Browsing by Subject "robotics"

Now showing 1 - 9 of 9

Access status: Open Access ,
Automated transfer point URB/ZS-3
(Wydawnictwa AGH, 2017) Krauze, Krzysztof; Rączka, Waldemar Stanisław; Sibielak, Marek; Konieczny, Jarosław; Kubiak, Dariusz; Culer, Henryk; Bajus, Daniel
In the KGHM Polska Miedź S.A. mines, excavated material is transported by transport trucks to transfer points and then by belt conveyors to near-shaft storage reservoirs, from where the excavated material is transported to the surface by means of a shaft transport system. Transfer from the means of non-continuous haulage to the continuous transport systems takes place at transfer points, where the excavated material is divided into two fractions: oversized grain and undersized grain. The oversized excavated material (which stays on the grating) is subjected to a process of crushing with the use of jack hammers. The article describes the URB/ZS-3 device for the automatic cleaning of the grating at transfer points, and briefly describes the design and principle of operation of the device. It also presents the purpose of constructing a block-crushing device and the method of its automation.
Access status: Open Access ,
Complete kinematic analysis of the Stewart-Gough platform by unit quaternions
(Wydawnictwa AGH, 2015) Serrano, Fernando E.; Rossell Garriga, Josep M.
In this paper, a complete analysis of Stewart-Gough platform kinematics by unit quaternions is proposed. Even when unit quaternions have been implemented in different applications (including a kinematic analysis of the Stewart platform mechanism), the research regarding the application of this approach is limited only to the analysis of some issues related to the kinematic properties of this parallel mechanism. For this reason, a complete analysis of the Stewart-Gough platform is shown. The derivation of the inverse and forward kinematics of the Stewart platform using unit quaternions shows that they are suitable to represent the orientation of the upper platform due to their simplicity, equivalence, and compact representation as compared to rotation matrices. Then, the leg velocities are derived to compute these values under different conditions.
Access status: Open Access ,
Generation of large scale robotic 3D printing trajectories and optimization of the quality of pieces
(Wydawnictwa AGH, 2023) Rosoux, François; Appeldoorn, Henri; Garray, Didier; Beeckman, Eric
Incremental sheet forming is used to form metal sheets on massive dies. However, the waste and time lost due to the machining of dies can be a problem for both companies and the environment. Additive manufacturing is thus a potential alternative to classical machining of dies, but these complex geometries could be challenging for classical layer-by-layer 3D printing techniques. This paper will present an innovative process based on a 3D printing technology using 3-axis systems and a pellet extruder combined with the generation of non-planar trajectories in order to achieve good surface quality. PLA-based parts were realised to evaluate surface quality and mechanical properties. With such a technique, the obtained 3D printed parts were closer to the expected CAD geometries and smoother top surfaces were obtained. These improvements have been made possible through the development of specific post-processors and printing strategies in order to replicate the behaviour of a 3D printer at a larger scale, which is a current challenge in robotic 3D printing.
Access status: Open Access ,
Guitar playing robot, a tool assisting instrumental research
(2014) Tokarczyk, Daniel; Pluta, Marek; Wiciak, Jerzy
This article is about the use of an automatic mechanism able to play an instrument in research about playing repeatability. Repeatability in this case refers to the time intervals between played notes in sequences. The subject will be discussed based on a guitar playing robot. During the research with the use of guitar playing robots, some conclusions were made that confirm that humans are unable to play sound sequences twice while maintaining high repeatability. It has also been proven that the use of a robotic musical instrument (RMI) helps obtain playing repeatability of sound sequences much more accurately than that obtained by a human musician
Access status: Open Access ,
Mathematical model to analyze the geometric limitations of mechatronic devices moving in curved pipe sections
(Wydawnictwa AGH, 2024) Zwierzyński, Adam Jan
This article presents a method enabling the determination of the minimum radius of pipe bending in which it is possible to move freely a cylinder with defined dimensions. A respective mathematical model has been presented. The below-described method can be useful in the future, while designing mechatronic tools for working in lateral bores starting from a vertical bore, and also while designing inspection robots moving in pipes and pipelines.
Access status: Restricted ,
Model fizykalny i sterowanie ramieniem robota
(Data obrony: 2017-01-18) Kluba, Bartosz
Wydział Elektrotechniki, Automatyki, Informatyki i Inżynierii Biomedycznej
Access status: Restricted ,
Podstawy robotyki
(AGH. Uczelniane Wydawnictwa Naukowo-Dydaktyczne, 2006) Buratowski, Tomasz
Access status: Open Access ,
Resilience of Robotic Solutions under Extreme Conditions
(Wydawnictwa AGH, 2024) Sala, Dariusz; Pikulin, Pavlo; Sobczuk, Valentyn; Kotsan, Igor
This study is devoted to the problems of the use of modern advanced technologies by logistics companies in their efforts to increase the speed of their technological operations and transform their business processes; this is aimed at reducing their financial costs, increasing the efficiency of their use of labor resources, and minimizing their risks. Today, this is a decisive factor in increasing a company’s competitiveness in the market, increasing its profitability, and realizing its long-term leadership. Innovative logistics is an effective tool for streamlining flow processes through the introduction of high-tech innovations in the operational and strategic management of the market structures that are aimed at improving the quality of their customer service, increasing the efficiency of their flow processes, and reducing the total cost of their implementation in order to achieve key business objectives. The paper examines approaches to the automation of business processes in the logistics sector in the context of the robotization of technological operations while taking those features that are due to the functioning of enterprises under conditions of constant exposure to extreme risks into account. The concept of the robotization of processes has been developed, which will increase the productivity and efficiency of businesses, help reduce their operating costs, reduce their likelihood of personnel errors, and contribute to improving their business security. The results are implemented in the practice of a number of logistics companies in the real sector of the economy.
Access status: Restricted ,
Synteza automatu dla stanowiska produkcyjnego z robotem 6-cio osiowym
(Data obrony: 2018-01-22) Wasilik, Aleksander
Wydział Elektrotechniki, Automatyki, Informatyki i Inżynierii Biomedycznej