1,721,040 research outputs found
Path planning of free-flying space manipulators: an exact solution for polar robots
No full textMotion planning for free-flying robots can be quite complex due to the fact that any movement of the joints influences the position andthe orientation of the spacecraft which carries the manipulator. Several studies have been carried out to plan joint trajectories which eliminate the effects of the dynamic disturbances.Approximate solutions to this problem have been proposedusing the concept of the Disturbance Map.The authors have already studied this problem for the case of 2 DOF and 3 DOF planar robots connected with revolute joints developing an exact solution based on the concept of dynamic singularities.Aim of this paper is to extendthe proposedmethod ology to the case of planar polar manipulators, analyzing the peculiarities of these robot arm configurations. A numerical procedure for the evaluation of zero disturbance trajectories is also presented and application examples are developed. The adoption of the proposed strategy improves the performances of spacecraft_s attitude control syste
An Unified Design Procedure for Flying Machining Operations
No full text"Flying machining" represents synchronization of an axis (slave) with a master axis in motion. One of the most important aspects of the design of “flying machining” operation is the choice of the proper law of motion of the slave axis. In literature, technical reports and papers can be found concerning this subject, but they deal with specific problems and the solutions or suggestions proposed are specific as well, suitable for those cases. In order to try to overcome this limitation, in this paper we analyze the subject of the flying machining operations from a wider point of view. We propose a uni?ed design procedure with general validity, suitable for the choice of the slave axis’ law of motion for whatever “flying machining” operation. Furthermore methodologies for the selection of the drive system will be proposed. The procedure is described applying it on a cross sealing operation, typical of wrapping machine
Attitude dynamic singularities in 3D free-flying manipulators for improved path planning
No full textThe paper extends the solution, already
presented to the trajectory planning problem of 2D free-flying manipulators, to 3D manipulators. It demonstrates
it is possible to design a robotic arm with a special dynamic singularity (attitude singular configuration),
thus permitting to determine and execute its trajectory without affecting the attitude of the spacecraft
carrying it. This methodology provides an exact solution to trajectory planning problems that are usually
dealt with by approximate algorithms based on the concept of Disturbance Map. After a theoretical introduction,
some educational design examples are presented
A framework for the real-time integration of mechatronic systems data with augmented reality applications to enhance human-machine interaction
No full textQuesto lavoro presenta lo sviluppo di un framework basato su una rappresentazione dei dati orientata agli oggetti, progettato per modellare e organizzare le numerose informazioni associate a un sistema meccatronico. L'approccio proposto struttura i dati in modo da enfatizzarne la rilevanza rispetto alla posizione spaziale dei componenti del macchinario, migliorandone l'accessibilità e l'interpretabilità. Tale organizzazione costituisce la base per applicazioni di realtà aumentata (AR), permettendo agli utenti di interagire con le informazioni in maniera più intuitiva ed efficace.
L'integrazione della tecnologia AR nell'interazione uomo-macchina ottimizza i flussi operativi, semplificando attività come la manutenzione, il controllo qualità e il monitoraggio in tempo reale dei macchinari. Questo framework offre un metodo solido per sfruttare l'AR, colmando il divario tra la complessità dei dati del sistema e la loro comprensione da parte degli utenti, aprendo la strada a processi industriali più efficienti e consapevoli.This work presents the development of a procedure framework based on an object-oriented data representation to model and organize the extensive information associated with a mechatronic system. By structuring data in a way that emphasizes its relevance to the spatial positioning of components within the machinery, the proposed approach enhances the accessibility and interpretability of the system's information. This data organization serves as a foundation for augmented reality (AR)-based applications, enabling users to interact with the information more intuitively and efficiently. The integration of AR technology into human-machine interaction improves operational workflows by facilitating tasks such as maintenance, quality control, and real-time machine monitoring. This approach provides a robust method for leveraging AR to bridge the gap between complex system data and user understanding, paving the way for more efficient and informed industrial processes
Generazione di leggi di moto per il controllo in traiettoria di macchine a controllo numerico e di robot industriali
No full text6-9 Ottobr
Optimal joint motion for free-flying space manipulators: an exact solution for polar robots
No full textMonterrey, Mexic
Una originale metodologia di scelta del gruppo motore riduttore per macchine automatiche
No full textCom
MeCAD an interactive graphic system for the simulation of planar mechanisms
No full textThis work presents a new extensions of MeCAD an interactive graphics system for the simulation of planar mechanisms. This program has been developed at the Department of Industrial and Mechanical Engineering at the University of Brescia and it is used in teaching research and also in industrial settings. The present version allows the kinematics and dynamics analysis of planar lineages. The motion of the actuators can be freely assigned and the MeCAD evaluates the motion of any point of interest. As for the dynamics it is possible to give any element the mass properties, the external forces, and, consequently, to calculate the actuator actions and constrain forces.
This paper describes new extension which includes transmission system as gears, epicyclical trains, and drive belts
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