The use of drones today has become an integral part of modern life to the extent that the level of drone utilization determines the quality of life. The expansion of drone applications has grown exponentially. This growth is primarily due to their low acquisition and maintenance costs, as well as their versatility. First of all, their expansion is contributed by the low costs of both acquisition and maintenance, as well as the possibility of various applications. The paper aims to present drones and their advantages compared to traditional aircraft as a means of transportation. The paper includes an analysis of unmanned aircraft performance, an examination of the kinematics of unmanned aircraft movement, a discussion of the most common structure used in unmanned aircraft (the quadcopter), and a comprehensive assessment of the risks associated with unmanned aircraft and their potential integration into civil air traffic. The quadcopter structure, as the dominant solution for the production of unmanned aircraft, is discussed in detail. At the very end, an overall analysis of the risks posed by unmanned aircraft and, as such, whether they can be integrated into civil air traffic is given.
{"title":"Analysis of the performance and kinematics of the movement of UAV","authors":"Marina Miloš, Petar Mirosavljević","doi":"10.5937/fme2304627m","DOIUrl":"https://doi.org/10.5937/fme2304627m","url":null,"abstract":"The use of drones today has become an integral part of modern life to the extent that the level of drone utilization determines the quality of life. The expansion of drone applications has grown exponentially. This growth is primarily due to their low acquisition and maintenance costs, as well as their versatility. First of all, their expansion is contributed by the low costs of both acquisition and maintenance, as well as the possibility of various applications. The paper aims to present drones and their advantages compared to traditional aircraft as a means of transportation. The paper includes an analysis of unmanned aircraft performance, an examination of the kinematics of unmanned aircraft movement, a discussion of the most common structure used in unmanned aircraft (the quadcopter), and a comprehensive assessment of the risks associated with unmanned aircraft and their potential integration into civil air traffic. The quadcopter structure, as the dominant solution for the production of unmanned aircraft, is discussed in detail. At the very end, an overall analysis of the risks posed by unmanned aircraft and, as such, whether they can be integrated into civil air traffic is given.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135612311","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abhijitkumar A. Jadhav, S. Zope, R. Malagi, D. Suryawanshi
Residual vibrations in machine tools hamper accuracy and productivity. The attenuation of residual vibrations has been an industrial concern for decades. Meanwhile, the residual vibrations' vibration pattern reveals that the support foundation's damping capabilities predominantly influence them. Therefore, inserting dampers in any other location on a machine tool (such as a machine column) is ineffective. Hence, the scope of inserting the damper into the machine foundation needs to be verified. However, conventional machine mounting systems (concrete foundation and rubber mounts) equally respond to all variable inputs. Both these flocks resulted in inadequate dampening and perhaps poor accuracy. This paper provides a first-generation model of a semiactive-viscous damper (ERF damper-foundation) with tunable damping facilitating machine installation. Controlled experimentation by exposing the developed damper foundation to excitations of medium duty lathe machine confirms its effectiveness and obtains over 48% attenuation compared to a conventional concrete foundation.
{"title":"Design and development of a novel tunable electrorheological fluid (ERF) damper-foundation to attenuate residual vibrations in machine tools","authors":"Abhijitkumar A. Jadhav, S. Zope, R. Malagi, D. Suryawanshi","doi":"10.5937/fme2301001j","DOIUrl":"https://doi.org/10.5937/fme2301001j","url":null,"abstract":"Residual vibrations in machine tools hamper accuracy and productivity. The attenuation of residual vibrations has been an industrial concern for decades. Meanwhile, the residual vibrations' vibration pattern reveals that the support foundation's damping capabilities predominantly influence them. Therefore, inserting dampers in any other location on a machine tool (such as a machine column) is ineffective. Hence, the scope of inserting the damper into the machine foundation needs to be verified. However, conventional machine mounting systems (concrete foundation and rubber mounts) equally respond to all variable inputs. Both these flocks resulted in inadequate dampening and perhaps poor accuracy. This paper provides a first-generation model of a semiactive-viscous damper (ERF damper-foundation) with tunable damping facilitating machine installation. Controlled experimentation by exposing the developed damper foundation to excitations of medium duty lathe machine confirms its effectiveness and obtains over 48% attenuation compared to a conventional concrete foundation.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"166 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85419649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this research, control of the Direct Current motor is accomplished using a neuro controller in the Internal Model Control scheme. Two Feed Forward Neural Networks are trained using historical input-output data. The first neural network is trained to identify the object's dynamic behavior, and that model is used as an internal model in the control scheme. The second neural network is trained to obtain an inverse model of the object, which is applied as a neuro controller. Experiment is conducted on the real direct current motor in laboratory conditions. Obtained results are compared to those achieved by implementing the Direct Inverse Control method with the same neuro controller. It was demonstrated that the proposed control method is simple to implement and the system robustness is achieved, which is a great benefit, aside from the fact that no mathematical model of the system is necessary to synthesize the controller of the real object.
{"title":"Control of direct current motor by using artificial neural networks in Internal model control scheme","authors":"Natalija Perišić, Radisa Z. Jovanovic","doi":"10.5937/fme2301109p","DOIUrl":"https://doi.org/10.5937/fme2301109p","url":null,"abstract":"In this research, control of the Direct Current motor is accomplished using a neuro controller in the Internal Model Control scheme. Two Feed Forward Neural Networks are trained using historical input-output data. The first neural network is trained to identify the object's dynamic behavior, and that model is used as an internal model in the control scheme. The second neural network is trained to obtain an inverse model of the object, which is applied as a neuro controller. Experiment is conducted on the real direct current motor in laboratory conditions. Obtained results are compared to those achieved by implementing the Direct Inverse Control method with the same neuro controller. It was demonstrated that the proposed control method is simple to implement and the system robustness is achieved, which is a great benefit, aside from the fact that no mathematical model of the system is necessary to synthesize the controller of the real object.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"31 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74268791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Gas turbine engines (GTE) are widely used in military and industrial applications. Accurate modeling is mandatory to advance GTE control. The present article investigates, experimentally and theoretically, a detailed dynamic model of an electro-hydraulic system that controls a variable geometry inlet guide vanes (VIGV) of turboshaft GTE. A parametric study for the computationally expensive and time-consuming model has been conducted considering the forces affecting the valve's spool and its relatively short settling time. A reduced mathematical model has been developed. The prediction results of the reduced and full-detailed models have been compared with the experimental results. The reduced model has decreased calculation time by 45% to 50 % while keeping the RMSE of the model within 1-2 % away from the actual system's experimental results for the complete operating range. An improvement allows future studies to integrate the whole subsystems of the GTE in a single computationally affordable model.
{"title":"Reduced order model for an electro-hydraulic valve of a gas turbine engine's controller","authors":"W. Elmayyah, M. Samy","doi":"10.5937/fme2302169e","DOIUrl":"https://doi.org/10.5937/fme2302169e","url":null,"abstract":"Gas turbine engines (GTE) are widely used in military and industrial applications. Accurate modeling is mandatory to advance GTE control. The present article investigates, experimentally and theoretically, a detailed dynamic model of an electro-hydraulic system that controls a variable geometry inlet guide vanes (VIGV) of turboshaft GTE. A parametric study for the computationally expensive and time-consuming model has been conducted considering the forces affecting the valve's spool and its relatively short settling time. A reduced mathematical model has been developed. The prediction results of the reduced and full-detailed models have been compared with the experimental results. The reduced model has decreased calculation time by 45% to 50 % while keeping the RMSE of the model within 1-2 % away from the actual system's experimental results for the complete operating range. An improvement allows future studies to integrate the whole subsystems of the GTE in a single computationally affordable model.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"29 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74833387","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper discusses the results of the experimental investigation of the performance of several grades of PcBN cutting composites in conditions of the interrupted machining of hardened steel. Both BH and BL types of PcBN indexable inserts with additions of Si3N4, TiC, and TiCN were tested, and cutting speed varied to assess the possibility of applying these cutting tools in different conditions. It has been shown that BL PcBN can be utilized for turning with shock loads in case of high cutting speed and low depth of cut (0,2 mm). While in the range of comparatively low cutting speeds BL cutting tools are actually inoperable, and because of microchipping of polycrystalline fragments and brittle destruction of the cutting edge, an increase of the cutting speed to 210 m/min changes wear pattern and formation of the wear land. As well as this, measurement of the form and values of the cutting forces impulses revealed the effect of their peak growth by up to 40%. The danger of shock impulses was analyzed by FEM modeling, and it was demonstrated that during impacts, the maximal value of the third Principal stress exceeds the average level of compressive stresses during continuous cutting by 1.6 times, which can cause damage to the cutting tool. The data on the estimation of tool fracture probability depending on loading conditions are presented, and the possibility of reducing such probability is shown.
{"title":"Intermittent machining of hardened steels with different types of PcBN cutting tools","authors":"Manokhin Sergiyovych, Klymenko Anatoliyovych, Melniychuk Oleksiyovich, Klymenko Anatoliyovych, Pasichnyi Olegovich, Xin Li, Kateryna Kamchatnaya-Stepanova, Osipov Sergiyovich","doi":"10.5937/fme2304504s","DOIUrl":"https://doi.org/10.5937/fme2304504s","url":null,"abstract":"The paper discusses the results of the experimental investigation of the performance of several grades of PcBN cutting composites in conditions of the interrupted machining of hardened steel. Both BH and BL types of PcBN indexable inserts with additions of Si3N4, TiC, and TiCN were tested, and cutting speed varied to assess the possibility of applying these cutting tools in different conditions. It has been shown that BL PcBN can be utilized for turning with shock loads in case of high cutting speed and low depth of cut (0,2 mm). While in the range of comparatively low cutting speeds BL cutting tools are actually inoperable, and because of microchipping of polycrystalline fragments and brittle destruction of the cutting edge, an increase of the cutting speed to 210 m/min changes wear pattern and formation of the wear land. As well as this, measurement of the form and values of the cutting forces impulses revealed the effect of their peak growth by up to 40%. The danger of shock impulses was analyzed by FEM modeling, and it was demonstrated that during impacts, the maximal value of the third Principal stress exceeds the average level of compressive stresses during continuous cutting by 1.6 times, which can cause damage to the cutting tool. The data on the estimation of tool fracture probability depending on loading conditions are presented, and the possibility of reducing such probability is shown.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135611036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The factors influencing the onset of knocking have a significant impact on how well a SI engine performs. Hence, the efficacy in determining the onset and controlling of knock is a key factor in improving the SI engine's performance. This paper provides insight into the role of engine block vibrations in determining the occurrence of knock using Empirical Mode Decomposition and Short-Time Fourier Transform. To comprehend the behaviour of vibration amid normal combustion and knocking conditions, the engine block vibration signals are analyzed and compared with the incylinder pressure fluctuations. The features of knock are extracted from the engine block vibration signals using Empirical Mode Decomposition. The first Intrinsic Mode Function (IMF) thus obtained is used to generate the Hilbert spectrum for detecting the occurrence of knock. Similarly, ShortTime Fourier Transform is also performed on the first IMF to obtain the spectrogram. The findings demonstrate unequivocally that higher frequency variations are produced when knock occurs. These results also indicate that the combination of Empirical Mode Decomposition and Short-Time Fourier Transform can be used effectively for determining the occurrence of knock.
{"title":"Engine block vibrations: An indicator of knocking in the SI engine","authors":"A. Joseph, G. Thampi","doi":"10.5937/fme2303396k","DOIUrl":"https://doi.org/10.5937/fme2303396k","url":null,"abstract":"The factors influencing the onset of knocking have a significant impact on how well a SI engine performs. Hence, the efficacy in determining the onset and controlling of knock is a key factor in improving the SI engine's performance. This paper provides insight into the role of engine block vibrations in determining the occurrence of knock using Empirical Mode Decomposition and Short-Time Fourier Transform. To comprehend the behaviour of vibration amid normal combustion and knocking conditions, the engine block vibration signals are analyzed and compared with the incylinder pressure fluctuations. The features of knock are extracted from the engine block vibration signals using Empirical Mode Decomposition. The first Intrinsic Mode Function (IMF) thus obtained is used to generate the Hilbert spectrum for detecting the occurrence of knock. Similarly, ShortTime Fourier Transform is also performed on the first IMF to obtain the spectrogram. The findings demonstrate unequivocally that higher frequency variations are produced when knock occurs. These results also indicate that the combination of Empirical Mode Decomposition and Short-Time Fourier Transform can be used effectively for determining the occurrence of knock.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"174 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83446566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Dr Sergey Voinash, R. Dobretsov, I. Troyanovskaya, R. Zagidullin, L. Sabitov, A. Nurullin
This article proposes a mathematical model of a caterpillar track's force and kinematic interaction with the ground during movement. The presence of a positive displacement of caterpillar tracks was proved even in the absence of slipping. This displacement causes the soil to be sheared and thrown out of the area of contact with the caterpillar. The change in the rotation angles of the tracks and the magnitude of their longitudinal displacement were obtained. A drop in the tension force of the caterpillar track was detected on the active section of the supporting surface between the first and second track wheels. The relationships between the main geometric parameters of the caterpillar track, the vertical load on the track wheels, and the movement of the tracks when the track wheels roll over them are established. Practical recommendations are proposed that contribute to the damping of vibrations when the track roller passes over the caterpillar track.
{"title":"Kinematic and force patterns of interaction of a link caterpillar of a transport machine with the ground","authors":"Dr Sergey Voinash, R. Dobretsov, I. Troyanovskaya, R. Zagidullin, L. Sabitov, A. Nurullin","doi":"10.5937/fme2303415d","DOIUrl":"https://doi.org/10.5937/fme2303415d","url":null,"abstract":"This article proposes a mathematical model of a caterpillar track's force and kinematic interaction with the ground during movement. The presence of a positive displacement of caterpillar tracks was proved even in the absence of slipping. This displacement causes the soil to be sheared and thrown out of the area of contact with the caterpillar. The change in the rotation angles of the tracks and the magnitude of their longitudinal displacement were obtained. A drop in the tension force of the caterpillar track was detected on the active section of the supporting surface between the first and second track wheels. The relationships between the main geometric parameters of the caterpillar track, the vertical load on the track wheels, and the movement of the tracks when the track wheels roll over them are established. Practical recommendations are proposed that contribute to the damping of vibrations when the track roller passes over the caterpillar track.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"160 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83847391","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The prerequisites for a brake disc material include a lower specific wear rate, a high coefficient of friction against brake pad material, lighter weight, and a higher heat dissipation rate. The present research studied the dry sliding wear behavior of as-cast Si-Mo-Cr ductile cast iron (DCI). A series of pin-on-disc wear tests are conducted using Taguchi L16 array for the optimum combination of load, sliding velocity, and temperature on a rotary tribometer setup at controlled temperatures ranging from 30°C to 240°C. The analysis of variance, first-order regression analysis, and confirmation tests are done to validate the results obtained for the material's wear properties. SEM and EdX analysis of wear surfaces is also done. It founds that the sliding velocity has a more significant influence on the specific wear rate. In contrast, the applied load is the key influencing parameter for a higher value of the coefficient of friction.
{"title":"Characterization of dry sliding behavior of a Si-Mo-Cr ductile cast iron","authors":"N. Ram, Vijay Gautam","doi":"10.5937/fme2301048r","DOIUrl":"https://doi.org/10.5937/fme2301048r","url":null,"abstract":"The prerequisites for a brake disc material include a lower specific wear rate, a high coefficient of friction against brake pad material, lighter weight, and a higher heat dissipation rate. The present research studied the dry sliding wear behavior of as-cast Si-Mo-Cr ductile cast iron (DCI). A series of pin-on-disc wear tests are conducted using Taguchi L16 array for the optimum combination of load, sliding velocity, and temperature on a rotary tribometer setup at controlled temperatures ranging from 30°C to 240°C. The analysis of variance, first-order regression analysis, and confirmation tests are done to validate the results obtained for the material's wear properties. SEM and EdX analysis of wear surfaces is also done. It founds that the sliding velocity has a more significant influence on the specific wear rate. In contrast, the applied load is the key influencing parameter for a higher value of the coefficient of friction.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"7 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81525515","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper proposes a method of strength analysis for materials of thin-walled shell structures reinforced with stiffeners. The shells under consideration were made of orthotropic materials. The authors analyze the applicability of the following seven strength criteria: the maximum stress criterion, the Mises-Hill criterion, the Fisher criterion, the Goldenblatt-Kopnov criterion, the Liu-Huang-Stout criterion, the Tsai-Wu criterion, and the Hoffman criterion. During the study, doubly-curved shallow shells square in the plan were considered. A geometrically nonlinear mathematical model of shell deformation, which considers transverse shears, was used. The calculations were based on the characteristics of T10/UPE22-27 glass-fiber-reinforced plastic. The method relies on calculating the values of several strength criteria at each step of structural loading and analyzing the development of areas failing to meet the strength conditions as the load increases.
{"title":"Method of strength analysis for doubly-curved stiffened orthotropic shells by various strength theories","authors":"A. Semenov","doi":"10.5937/fme2302211s","DOIUrl":"https://doi.org/10.5937/fme2302211s","url":null,"abstract":"The paper proposes a method of strength analysis for materials of thin-walled shell structures reinforced with stiffeners. The shells under consideration were made of orthotropic materials. The authors analyze the applicability of the following seven strength criteria: the maximum stress criterion, the Mises-Hill criterion, the Fisher criterion, the Goldenblatt-Kopnov criterion, the Liu-Huang-Stout criterion, the Tsai-Wu criterion, and the Hoffman criterion. During the study, doubly-curved shallow shells square in the plan were considered. A geometrically nonlinear mathematical model of shell deformation, which considers transverse shears, was used. The calculations were based on the characteristics of T10/UPE22-27 glass-fiber-reinforced plastic. The method relies on calculating the values of several strength criteria at each step of structural loading and analyzing the development of areas failing to meet the strength conditions as the load increases.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"1 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91092711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, we develop a low-cost delta robot arm for grasping objects of unspecified size thanks to a vision system. Stepper motors are used instead of ac servo motors to build a low-cost delta robot arm. Furthermore, we use available materials and machining methods such as laser cutting and 3d printing instead of CNC milling and turning to reduce fabrication costs. The controller is based on a low-cost embedded controller - Arduino Uno for controlling the robot's motion. The vision system is constructed to determine the 3D coordinate of objects in the workspace as well as the sizes of objects. The gripper is opened with a distance of two fingers equal to the size of the objects, and the robot is controlled to the objects' coordinates to grasp them. An application to pick up objects on a conveyor belt is developed to validate the design. The experimental results show that the robot system works correctly, the robot arm moves smoothly, and the information determined by the vision system has a small error, ensuring that the robot can accurately pick up products.
{"title":"Design a low-cost delta robot arm for pick and place applications based on computer vision","authors":"Phuong Hoai, V. Cong, T. Hiep","doi":"10.5937/fme2301099p","DOIUrl":"https://doi.org/10.5937/fme2301099p","url":null,"abstract":"In this paper, we develop a low-cost delta robot arm for grasping objects of unspecified size thanks to a vision system. Stepper motors are used instead of ac servo motors to build a low-cost delta robot arm. Furthermore, we use available materials and machining methods such as laser cutting and 3d printing instead of CNC milling and turning to reduce fabrication costs. The controller is based on a low-cost embedded controller - Arduino Uno for controlling the robot's motion. The vision system is constructed to determine the 3D coordinate of objects in the workspace as well as the sizes of objects. The gripper is opened with a distance of two fingers equal to the size of the objects, and the robot is controlled to the objects' coordinates to grasp them. An application to pick up objects on a conveyor belt is developed to validate the design. The experimental results show that the robot system works correctly, the robot arm moves smoothly, and the information determined by the vision system has a small error, ensuring that the robot can accurately pick up products.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"60 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73602475","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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