Motion Control of 6-DOF Relative Manipulation Device

Khalapyan, S. Y.; Rybak, Larisa; Gaponenko, E. V.; Carbone, Giuseppe

doi:10.1007/978-3-030-75271-2_23

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…Each of the movable assembly elements is designated as a "link", in the menu of which the main mass and inertial parameters are determined. The conjugated "links" form "nodes" and "connections", the menu of which allows you to adjust degrees of freedom, friction forces, limits, and laws of motion, which are described in more detail in a number of works [28][29][30][31]. The coupling of the lever with the cam surface is realized using the "3D Contact" command, with stiffness parameters of 10,000 N/mm and friction parameters selected in accordance with the analytical calculation.…”

Section: Building a Digital Twinmentioning

confidence: 99%

Design and Optimization of a Robot Dosing Device for Aliquoting of Biological Samples Based on Genetic Algorithms

Rybak,

Carbone,

Malyshev

et al. 2024

Machines

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Aliquoting of biological samples refers to the process of dividing a larger biological sample into smaller, representative portions known as aliquots. This procedure is commonly employed in laboratories, especially in fields like molecular biology, genetics, and clinical research. Currently, manual dosing devices are commonplace in laboratories, but they demand a significant amount of time for their manual operation. The automated dosing devices available are integrated into narrowly focused aliquoting systems and lack versatility as manipulator equipment. Addressing this limitation, a novel technical solution is proposed in this paper for a modular dosing device compatible with robotic manipulators. The paper introduces and details a mathematical model, optimizes its parameters, and constructs a detailed 3D model using the NX environment to demonstrate the engineering feasibility of our concept. It further outlines the development of a three-dimensional dynamic simulation model for the dosing device, comparing analytical calculations with simulation results. The construction of a dosing device prototype is discussed, followed by a comprehensive experimental validation.

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Section: Building a Digital Twinmentioning

confidence: 99%

Design and Optimization of a Robot Dosing Device for Aliquoting of Biological Samples Based on Genetic Algorithms

Rybak,

Carbone,

Malyshev

et al. 2024

Machines

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“…Thus, RMP built on the basis of mechanisms with parallel kinematics can provide the following types of operational tasks: tests of high-tech equipment and its individual components; use as mobile bases in simulators for equipment control (cars, aircraft, specialized equipment); creation of specialized units that hold various devices and actuators in a given position during movement. The use of parallel mechanisms is quite effectively implemented in some simulators that simulate the processes of mobile hardware control, where 6-power positioning systems (Stewart platform, Hexapod) are implemented as the main driving mechanisms [4].…”

Section: Introductionmentioning

confidence: 99%

Dynamic model of a robotic platform with 6 degrees of freedom

Khurtasenko

Chuev

Rybak

2022

J. Phys.: Conf. Ser.

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The paper presents the study of kinematic and dynamic characteristics of the robotic mobility platform (RMP) to determine inertia-force parameters depending on the nature of the implemented motion path. The method is implemented on the basis of parameterized digital simulation models with parallel kinematics, which allow determining acceleration and force response in the joints of structural components at given geometric parameters of the platform design.

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