Pub Date : 2020-12-02DOI: 10.1109/ME49197.2020.9286625
J. Mlýnek, Michal Petrů, Tomás Martinec, R. Knobloch
Polymer frame composites are increasingly applied in aerospace and automotive industry. These composites are primarily preferred due to their excellent mechanical and physical properties, in particular their eminent tensile strength and exquisite flexibility as well as high resistance to harsh weather conditions and corrosion. In the frame composites production frames with circular cross-sections are frequently used. The frames are often composed of several parts with different cross-section radii (for instance composites for car door reinforcement elements). Correct winding angles and homogeneity of fibre windings on a given 3D shaped non-bearing frame are necessary prerequisites for the production of high-quality frame composites. This article presents an overview of a new method to ensure compliance with these two important conditions. A fiber-processing head and industrial robot are used in the process of winding the fibres onto the frame. To keep the correct winding angles and homogeneity for the given frame, an optimized robot trajectory is calculated off-line using a mathematical model of the winding process, matrix calculus and a differential evolution algorithm. The computational procedure is independent of the type of industrial robot and its software tools. The method is programmed in the Delphi development environment system. The scheme of the calculation procedure forms an integral part of this article. The presented method was verified in experimental laboratory tests.
{"title":"Production of Polymer Frame Composites Using Industrial Robots","authors":"J. Mlýnek, Michal Petrů, Tomás Martinec, R. Knobloch","doi":"10.1109/ME49197.2020.9286625","DOIUrl":"https://doi.org/10.1109/ME49197.2020.9286625","url":null,"abstract":"Polymer frame composites are increasingly applied in aerospace and automotive industry. These composites are primarily preferred due to their excellent mechanical and physical properties, in particular their eminent tensile strength and exquisite flexibility as well as high resistance to harsh weather conditions and corrosion. In the frame composites production frames with circular cross-sections are frequently used. The frames are often composed of several parts with different cross-section radii (for instance composites for car door reinforcement elements). Correct winding angles and homogeneity of fibre windings on a given 3D shaped non-bearing frame are necessary prerequisites for the production of high-quality frame composites. This article presents an overview of a new method to ensure compliance with these two important conditions. A fiber-processing head and industrial robot are used in the process of winding the fibres onto the frame. To keep the correct winding angles and homogeneity for the given frame, an optimized robot trajectory is calculated off-line using a mathematical model of the winding process, matrix calculus and a differential evolution algorithm. The computational procedure is independent of the type of industrial robot and its software tools. The method is programmed in the Delphi development environment system. The scheme of the calculation procedure forms an integral part of this article. The presented method was verified in experimental laboratory tests.","PeriodicalId":166043,"journal":{"name":"2020 19th International Conference on Mechatronics - Mechatronika (ME)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114513690","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}
Pub Date : 2020-12-02DOI: 10.1109/ME49197.2020.9286694
S. Cocuzza, E. Rossetto, A. Doria
Aerial manipulation is an emerging field of research, and important applications can be envisaged, such as inspection and maintenance, search and rescue, structure assembly, and logistics. The manipulator transfers forces and torques to the UAV, which affect the UAV position and attitude. This may cause failure or loss of precision in pick and place and assembly operations. In this paper, first, the effect of simple impulsive force and torque disturbances on UAV dynamics is studied. Then, a coupled dynamic model of the UAV and a 1-DOF (Degree of Freedom) manipulator is developed and compared to a simplified decoupled model. Finally, a decoupled dynamic model is proposed for a 3-DOFs manipulator, and the simulation results for a real pick and place operation are presented and discussed. It is evidenced that, in all of the considered scenarios, a lateral displacement of the system is generated during the manipulation in hovering flight, which could jeopardize the manipulator precision.
{"title":"Dynamic interaction between robot and UAV in aerial manipulation","authors":"S. Cocuzza, E. Rossetto, A. Doria","doi":"10.1109/ME49197.2020.9286694","DOIUrl":"https://doi.org/10.1109/ME49197.2020.9286694","url":null,"abstract":"Aerial manipulation is an emerging field of research, and important applications can be envisaged, such as inspection and maintenance, search and rescue, structure assembly, and logistics. The manipulator transfers forces and torques to the UAV, which affect the UAV position and attitude. This may cause failure or loss of precision in pick and place and assembly operations. In this paper, first, the effect of simple impulsive force and torque disturbances on UAV dynamics is studied. Then, a coupled dynamic model of the UAV and a 1-DOF (Degree of Freedom) manipulator is developed and compared to a simplified decoupled model. Finally, a decoupled dynamic model is proposed for a 3-DOFs manipulator, and the simulation results for a real pick and place operation are presented and discussed. It is evidenced that, in all of the considered scenarios, a lateral displacement of the system is generated during the manipulation in hovering flight, which could jeopardize the manipulator precision.","PeriodicalId":166043,"journal":{"name":"2020 19th International Conference on Mechatronics - Mechatronika (ME)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128073505","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}
Pub Date : 2020-12-02DOI: 10.1109/ME49197.2020.9286675
P. Fabo, Š. Šedivý, Michal Kuba, Anna Buchholcerová, J. Dudak, G. Gaspar
Monitoring the lower layers of the troposphere by observing the signals of BTS base stations requires additional weather measurements. It was decided to build an experimental weather station for purposes of comparison and evaluation of experimentally obtained data from radio frequency measurements. A PLC based implementation was chosen due to its ease of operation and possibility of simple future expansion. It consists of a control PLC with connected meteorological sensors such as air temperature and humidity, pressure, dew point, anemometer, rain-gauges and others. Weather station lot was built with regards to WMO standards as a fenced area with meteorological masts and electrical boxes for power and control circuits of the weather station. After one year of operation, it is clear, that the weather station serves well and supplies with required additional measurements for the radio frequency measurements.
{"title":"PLC based weather station for experimental measurements","authors":"P. Fabo, Š. Šedivý, Michal Kuba, Anna Buchholcerová, J. Dudak, G. Gaspar","doi":"10.1109/ME49197.2020.9286675","DOIUrl":"https://doi.org/10.1109/ME49197.2020.9286675","url":null,"abstract":"Monitoring the lower layers of the troposphere by observing the signals of BTS base stations requires additional weather measurements. It was decided to build an experimental weather station for purposes of comparison and evaluation of experimentally obtained data from radio frequency measurements. A PLC based implementation was chosen due to its ease of operation and possibility of simple future expansion. It consists of a control PLC with connected meteorological sensors such as air temperature and humidity, pressure, dew point, anemometer, rain-gauges and others. Weather station lot was built with regards to WMO standards as a fenced area with meteorological masts and electrical boxes for power and control circuits of the weather station. After one year of operation, it is clear, that the weather station serves well and supplies with required additional measurements for the radio frequency measurements.","PeriodicalId":166043,"journal":{"name":"2020 19th International Conference on Mechatronics - Mechatronika (ME)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129451438","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：