Intelligent Mechatronic Systems Applications in Engineering
Abstract
This paper presents some experimental applications using intelligent systems such as sensors, controller, robotic systems, and crane systems. A Mobile robot design, path planning, and applications in real-time is proposed for blind people. A proposed A* algorithm is used for path planning of the mobile robot. Moreover, an image processing structure predicts the path without touching obstacles. An industrial robot is used with image processing to classify universal materials. On the other hand, a new walking performance six-legged mobile robot control is proposed to analyze the stability and walking conditions of the robot by using an open dynamic engine solution. Furthermore, a designed and controlled crane system is proposed for vibration and amplitude analysis of the double bridge crane system. On the system, a prosed neural predictor is used to analyze performance. Analysis and control of the welding position of an industrial robot are also utilized to compare with operator-based welding process structure. The results improved that all the proposed analyze has superior performance in real-time applications for all approaches.KeywordsIntelligent systemsRobotic systemPath planningCrane systemsR&D investmentProduct innovation
The design features of a mechatronic mechanism (MM) configured by the control were given. MM provides automatic control of the torque on the shaft by adjusting the pressing force of the working body to the object to be machined, for example, the force of pressing the cutting tool to the workpiece. The MM relevance, for example, in motor-spindles of CNC machines was determined by the need to improve (based on a new machining technology paradigm) the technology for machining parts from modern superhard and difficult-to-machine materials, as well as materials with pronounced anisotropic properties (materials with coatings, reinforced fibrous materials), precious stones, and porous materials. Design of a MM sensitive element was developed for an automatic control system “by disturbance” and based on a ball-bearing screw converter with the necessary range of linear movement of the working body of the technological machine. The developed MM mathematical model connects its geometric and electromagnetic parameters and shows the influence of the helical groove angle in the ball-bearing screw converter on the force of pressing a cutting tool to the machining workpiece. It made it possible to develop recommendations on the value of the helical groove angle for implementing various technological machining modes in nano-, micro-, and macro-technologies conditions.KeywordsProduct InnovationMachining TechnologyElectromagnetic ForceElectrodynamic ForceAction and CounteractionPressing ForceTorque Control
This paper aims to design a new model of the third-stage carrier assembly used in a planetary gearbox as a single part component with improved strength and fatigue life properties and lower production costs. First, the mounting carrier assembly is subjected to static, fatigue, and modal analysis, and based on obtained results, the operating conditions that ensure its trouble-free operation are proposed. In the next step, new designs of the carrier as a single piece component are proposed and subjected to similar analyses. The proper numerical analysis method is chosen to evaluate the fatigue life, total deformation, and von Misses stress for each new model. Based on these results, the best design is chosen and submitted to further improvement, ensuring a weight reduction of 5 %. This last model of the carrier assembly is the most optimal solution since the maximum deformation values decreased by more than 55 %, and the maximum von Misses stresses decreased by almost 38 %, which increased fatigue life. A more comprehensive range of operating conditions for the optimized carrier is proposed to ensure its suitability for use in each gearbox. The finite element method analysis is performed in ANSYS.
The problem of the stable functioning of the machining centres shaping spindle nodes for drilling, milling and boring type is considered. 3D-representation of the double-support spindle nodes design and a set of tooling for milling and boring operations are given. Reference parameterized models in the APM WinMachine system are proposed for the formation of various spindle steps at the conjugation with supports and mechanical gears. The study of elastic links stiffness parameters for the spindle-tool block using the method of initial parameters in the matrix formulation is conducted. The influence of centrifugal forces and gyroscopic moments in the process of building a mathematical model of the dynamics functioning shaping components for the machining centre is taken into account. The area of stable processing of workpieces based on the D-partitions method is revealed and recommendations on determining the optimal dimensions of tool blocks at the vibration resistance boundary are given. A technique for the integrated research of the machining centres elastic parts with using solid-and parametric modelling methods is proposed.
Dynamic economic development and the fast implementation pace of innovative, economical solutions force companies to continue finding methods of increasing the efficiency of their operations. One of the ways to increase the effectiveness of activities is to use a project approach that allows achieving all the set goals efficiently. The project approach is gaining popularity due to its high efficiency. Also, it is treated as a separate trend called as “projectification” and “project orientation”. The article defines what a project and project management methodology are. The specificity of railway transport projects concerning rolling stock was characterized. The elements of traditional and agile project management methodologies were described, indicating their differences. Project areas were selected in which the implementation of the elements of agile project management methodologies is the easiest and fastest to carry out.
A study of a simplified mathematical model for determining the grinding temperature is performed. According to the obtained results, the equations of this model differ slightly from the corresponding more exact solution of the one-dimensional differential equation of heat conduction under the boundary conditions of the second kind. The model under study is represented by a system of two equations that describe the grinding temperature at the heating and cooling stages without the use of forced cooling. The scope of the studied model corresponds to the modern technological operations of grinding on CNC machines for conditions where the numerical value of the Peclet number is more than 4. This, in turn, corresponds to the Jaeger criterion for the so-called fast-moving heat source, for which the operation parameter of the workpiece velocity may be equivalently (in temperature) replaced by the action time of the heat source. This makes it possible to use a simpler solution of the one-dimensional differential equation of heat conduction at the boundary conditions of the second kind (one-dimensional analytical model) instead of a similar solution of the two-dimensional one with a slight deviation of the grinding temperature calculation result. It is established that the proposed simplified mathematical expression for determining the grinding temperature differs from the more accurate one-dimensional analytical solution by no more than 11 % and 15 % at the stages of heating and cooling, respectively. Comparison of the data on the grinding temperature change according to the conventional and developed equations has shown that these equations are close and have two points of coincidence: on the surface and at the depth of approximately threefold decrease in temperature. It is also established that the nature of the ratio between the scales of change of the Peclet number 0.09 and 9 and the grinding temperature depth 1 and 10 is of 100 to 10. Additionally, another unusual mechanism is revealed for both compared equations: a higher temperature at the surface is accompanied by a lower temperature at the depth. Keywords: grinding temperature, heating stage, cooling stage, dimensionless temperature, temperature model.
The paper presents the results of the calculation of the crystallization energy and investigates its effect on the size of the nanostructured grain during ion-plasma treatment of copper with oxygen and nitrogen ions. It is shown that the crystallization energy increases the energy of ions required to obtain nanostructures. At energies near 300 eV, it ranges from 0.1 to 7 eV, ie can be ignored, but at energies close to 15,000 eV, the crystallization energy is from 200 to 11,000 eV, and the energy for oxygen ions is greater. Calculations also showed that the ion charge significantly affects the crystallization energy for large ion charges in the direction of increase. All these results confirm that it is necessary to take into account the crystallization energy only at energies of 2·103–2·104 eV, and this allows to clarify the technological parameters of ion-plasma treatment of copper to increase the probability of obtaining nanostructures.KeywordsCrystallization energySurface hardeningMicro-coarsenessWear resistanceDiffusion layer
The main purpose of the research is to expand the range of the theoretical and experimental knowledge about the synthesis methods of copper oxide nanowires. For the purpose, a set of experiments was carried out in the conditions of ambient air at the temperatures of 600 to 1000 ℃, and then the experimental results were simulated by use of the recently developed theoretical model. The results confirmed that the model can be applied in the oxygen pressure range of about 104–105 Pa, and the set of energies introduced in the model, stays almost constant for these pressures and in the temperature range of 600–800 ℃. In addition to the traditional modes of the copper nanowire synthesis, a high temperature mode at 1000 ℃ was found where the thin nanowires are grown not on the flat layer of oxide evenly distributed along the sample surface, but on the bulky 3D microstructures of copper oxide. However, the optimal temperature for the growth of 1D copper oxide nanostructures was confirmed to be close to 600–700 ℃, where the longest nanowires with the most abundant yield are obtained. At the same time, the geometrical characteristics of the nanowires are almost independent on the ten-fold decrease in the oxygen pressure for the optimal temperatures. The obtained results imply the necessity of further development of the model to explain the nanowire nucleation.KeywordsCopper oxideNanostructuresThermal growthAmbient air
New innovative methods, such as augmented reality, are becoming more and more popular through the possibility of implementation the virtual elements into real-world environments. The aim of the present contribution is to link the techniques used in the educational process with the needs of real practice. The contribution points to the possibilities of usage not only of CL data for machining process, but shows possibilities comprising the use simulation data from the pre-production phase for augmented reality. Consequently a direct visualization solution for the operator is proposed, as well as an enriched information graphics environment for students to track the production process in real time.