Program Suite for Conceptual Designing of Parallel Mechanism-Based Robots and Machine Tools

Tabaković, Slobodan; Zeljković, Milan; Gatalo, R.; Živković, Aleksandar

doi:10.5772/56633

Cited by 18 publications

(10 citation statements)

References 20 publications

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“…In addition, he uses a noise suppression algorithm Dong et al, 2013;De Melo et al, 2012;Garcia et al, 2007;Garcia-Murillo et al, 2013;He et al, 2013;Lee, 2013;Lin et al, 2013;Liu et al, 2013;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu and Petrescu, 1995a;1995b;1997a;1997b;1997c;2002a;2002b;2003;2005a;2005b;2005c;2005d;2005e, 2016a2013;2012a;2012b;2011;Petrescu et al, 2016;2009;Reddy et al, 2012;Tabaković et al, 2013;Tang et al, 2013;Tong et al, 2013;Wang et al, 2013;Wen et al, 2012;Antonescu and Petrescu, 1985;1989;Antonescu et al, 1985a;1985b;1986;1987;1988;1994;1997;2001;Mirsayar et al, 2017).…”

Section: Fig 21 the Control Coilmentioning

confidence: 99%

Testing by Non-Destructive Control

Petrescu

Aversa

Akash

et al. 2017

American Journal of Engineering and Applied Sciences

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This paper describes an application of industrial robots that gain ground mainly in the aerospace industry. It is a TTT manipulator whose task is to automatically position the end-effector, in this case a complex sensor system and a eddy-current probe in the position set by the software application for testing by non-destructive ultrasound control of tickets and bars of titanium, both round and square, or any other transparent ultrasound metal (obviously in a certain range of sizes). For surface control, the effector also includes a Eddy current (Eddy current control system). The installation performs ultrasonic control by the echo boost method in total immersion using as a water coupling medium. This method provides the best coupling for automated control systems. This plant was specially produced for ZIROM S.A. A unique producer of titanium ingots in Romania by the reputed German company Karl Deutch (leader in this field), the founder of the company being also one of the inventors of the non-destructive ultrasonic control method, the part of Eddy current being produced by the German company Prüftechnik. This paper aims to explore the state of the art of non-destructive automatic ultrasonic control techniques according to the possible methods to be adopted, by the applications that demand such methods, by reviewing a series of installations more or less similar to those of Zirom s.a. It is thus found that there are a multitude of pine technical solutions that can be done with an ultrasonic automatic control and precision. In this context, the last chapter of the paper that attempts to probe the possible evolution of the future of US control in this field is of great importance because in the current pace of innovations in all fields, but especially in IT and electronics, the future holds many surprises.

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Section: Fig 21 the Control Coilmentioning

confidence: 99%

Testing by Non-Destructive Control

Petrescu

Aversa

Akash

et al. 2017

American Journal of Engineering and Applied Sciences

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“…This last invention, will lead to the strengthening of serial systems, and to their consolidation like the indisputable ENGEVISTA, V. 17, n. 1, p. 1-15, Março 2015 leader in diversity of mechatronics (Dong, 2013) and robotic systems (Tamura, 2013). This work starts from a main idea, to study these systems on a single model, 3R, which has finally main movements lying on a single plane model, 2R.…”

Section: Robotsmentioning

confidence: 99%

About the Anthropomorphic Robots

Petrescu

2014

Engevista

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If we study (analyze) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), we already have a base system, on which we can then add other movements (secondary, additional). Calculations were arranged and in the matrix form. The most commonly used serial structures over the last 20 or 30 years are those of type 3R, 4R, 5R, 6R, having as constituents essential basic kinematic chain 3R, robot anthropomorphic (RRR), where main rotation around a vertical axis, causes the construction. It can thus passes from the study spatial movement, which is more difficult, to the study motion plane, basic movement, for all the robots and fillers serial movements of rotation. Moving flat, horizontal or vertical, shall be undertaken far more easily than the spatial integration with the convenience simple in the space of which it is part. We will exemplify the basic structure existing in a few serial platforms of rotation, these being the most generalized (more widespread) at the present time. In this work will be pursued and the direct and inverse kinematics of these mechanical systems. It can make the transition from 3R systems-level 2R and vice versa.

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“…The present work is intended presenting a triad kinematics general used only with the kinematic couplings rotational (C5), because such approaches are rare in the area, although triad is a structured group Assuric often used. The calculation method presented is an analytical one (Pelecudi, 1967;Antonescu, 2000;Comănescu et al, 2010;Aversa et al, 2016a;Berto et al, 2016a;Mirsayar et al, 2017;Cao et al, 2013;Dong et al, 2013;De Melo et al, 2012;Garcia et al, 2007;Garcia-Murillo et al, 2013;He et al, 2013;Lee, 2013;Lin et al, 2013;Liu et al, 2013;Padula and Perdereau, 2013;Perumaal and Jawahar, 2013;Petrescu and Petrescu, 1995a;1995b;1997a;1997b;1997c;2002a;2002b;2003;2005a;2005b;2005c;2005d;2005e, 2016a2013;2012a;2012b;2011;Petrescu et al, 2009;2016a-e;2017a-ae;Petrescu and Calautit, 2016a-b;Reddy et al, 2012;Tabaković et al, 2013;Tang et al, 2013;Tong et al, 2013;Wang ...…”

Section: Introductionmentioning

confidence: 99%

Kinematics of a Mechanism with a Triad

Petrescu¹,

Aversa²,

Abu-Lebdeh³

et al. 2018

American Journal of Engineering and Applied Sciences

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The Assuric Structural Groups are the most well-known classification and modulation used in machine and machine theory, and even though other modular classifications adapted to robots have emerged today, they still remain a reference classification in industrial mechanics and engineering. Diada in the mechanics can be studied similarly to the diode in the electronics, the triad is studied in the theory of machine and robot mechanisms similar to triode (or transistor) study in electronics. Further, the theory of the mechanisms is studying: tetrad, pentad ... but it cannot go further than for a 12th-order structural group because the efficiency of mechanisms using such very large groups is very small and such a mechanism can be blocked in operation. If the similarity between the mechanisms and the electronics is correct up to the 5-6th class, the larger ones are of no use, the advantages of the electronics being that it can also function in the large or very large group with high yields, without blockages, which is why the integrated circuits and electronic chips were born. The present work is intended presenting a triad kinematics general used only with the kinematic couplings rotational (C5), because such approaches are rare in the area, although triad is a structured group Assuric often used. The calculation method presented is an analytical one.

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Program Suite for Conceptual Designing of Parallel Mechanism-Based Robots and Machine Tools

Cited by 18 publications

References 20 publications

Testing by Non-Destructive Control

Testing by Non-Destructive Control

About the Anthropomorphic Robots

Kinematics of a Mechanism with a Triad

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