The subject of this paper permits the cooperation between many researchers which activate in different fields, which have the capacity to develop informational methods and technologies to solve difficult problems given by the complexity of the scientifically target. Using computer-aided design (CAD) and dynamic simulation programs was developed a virtual model of the cervical human spine that includes the main muscle groups simulated by springs with dynamic parameters, nonlinear and variable. Were studied the main types of movements (displacements) lateral bending (left-right) and flexion-extension movements.
This paper presents researches developed by authors to design a motorized robotic wheelchair for disabled people. These devices enable disabled people perform many activities of daily living thus improving their quality of life. Proposed solution uses for traction one DC motor with steps adjustable angular speed, and for steering one smaller motor. It is presented the kinematic scheme of the proposed transmission and kinematic analysis. It is developed a CAD model of the transmission, mounted on a wheelchair. They are made simulation in Adams, in order to verify the functionality of the proposed transmission. The obtained results validate proposed transmission model and enable success implementation of this transmission to a wheelchair experimental model.
Abstract. This paper examines the potential risks for the design and manufacture products for medical robotics using FMEA method. So we researched all foreseeable potential defects and their causes and effects for a robotic arm. The product is decomposed into components / functions and researched on the requirements for construction, namely the preservation of these requirements during production. Through a qualitative assessment of the effect of a defect, the probability of occurrence and probability of detection were discovered risks and set appropriate corrective measures. Thus FMEA is an effective method of preventive quality assurance.
This paper presents a modular system for testing the performance of a poly-articulate robotic arm (snake like) with the push-pull actuation redundancy. Mechanical structure contains modules that allow testing of robots with different structures of the robotic arm (discrete hyper-redundant, continuous). Sensory system can be configured depending on the product and testing program adapting the sensors of position, velocity, time and vibrations. The monitoring system developed allows the automatic calibration of actuators and sensors, data and signal acquisition.
This work proposes the optimization by simulation of fabrication in manufacturing robotized systems, designing in principle of a flexible fabrication cell composed of many modules (centering, turning, etc) for machining of a product family, cell that is to be operated by an industrial robot whose purpose is the handling of parts within it (transport of parts among the cell modules). The production task shall be reviewed first, within which the typological nucleus to be machined, using the mathematic theory of utilities. The next step consists in determining the static configuration of the MRS in order to set the type and number of modules-operation using the mathematic modeling. Through the method of fictive ranges it shall be calculated the cost of the flexible production systems and it shall be determined the spatial arrangement of processing modules from MRS.
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