Application of general purpose computing environments to analysis of manipulators' dynamics gives ability to select elastically the model structure and analysis algorithms, as well as full access to the intermediate results, however, it often requires introduction of various simplifications of the model under consideration. The alternative approach consists in application of the specialized software packages that allow the use of more sophisticated models, but at the cost of restricted access to the intermediate results as well as the limited range of possible modifications of models and solution algorithms. The authors focused on application of the co-simulation technique in analysis of manipulators' dynamics. Co-simulation consists in application of specialized software packages to formulation of the dynamic model. Next, the model is simulated with use of a general purpose computing environment and cooperating specialized software package. The authors used Matlab/Simulink computing environment and MD ADAMS software package. The paper presents comparison of results, problems of application, as well as remarks on educational applicability of manipulator dynamics analysis with use of the simulation and the co-simulation techniques. Two examples of a manipulator dynamics modelling were considered. One example with a considerably simplified mass spatial distribution, and another one with a mass distribution corresponding to a real commercial manipulator. The achieved analysis results confirmed that application of the co-simulation technique eases the use of complex models in analysis of manipulator dynamics with use of the general purpose computing environments.
Abstract. This article presents a summary result of the survey on the need for mechatronics education. The study was conducted as a cooperation project between two teams established at two universities: AGH-UST from Poland and University of Stavanger (UiS) from Norway. Both companies and High School Pupils are surveyed in this project, but only feedbacks from the former are analyzed in this article. As a result of the declining interest for engineering and science education in general and mechatronics education in particular, the project is intended to work out an International Curriculum for mechatronics education that can stimulate pupils for science and technology fields as well as to encourage students in engineering education. The field of mechantronics has been focused because this field, as a new and multidisciplinary area, has a high potential to integrate topics that are necessary for modern engineering industries and can provide graduates in a multi-skill and knowledge.
Before disassemble and demolition of five granulation towers the authors planned and carried out measurements of the intensity of vibrations induced during the fall of the dismantled components of towers on the ground. The main aim of the study was to determine the maximum permissible weight of falling elements of the towers during the demolition, in terms of ensuring the protection of buildings and equipment located in the vicinity of the works. It was unacceptable to increase the vibration amplitude displacement in each section of measurement on each of the three perpendicular axes by more than 2 µm peak-to-peak value and the absolute velocity of RMS of vibration amplitude couldn't be increased by more than 1 mm/sec value than the background vibration during the demolition of the towers. Preliminary experimental studies were conducted on a test stand and the measurements were made on the real object. The amplitudes of vibration waves displacement and velocity were recorded on the measurement section in the direction of the protected building. The results of measurements were used to identify the propagation of the shock wave and the effectiveness of the proposed insulation layers.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.