Showing papers by "Doina Pisla published in 2006"
25 May 2006
TL;DR: A method is presented that generates the graphical visualization and the analysis elements for a defined parallel robot working space and demonstrates that from the kinematical model and graphical simulation the implemented algorithm offers a high degree of generality.
Abstract: In the last decades, the technological progress and especially the industrial robotics development has practically led to the appearance of a new robots generation based on the closed-loop kinematical chains, namely parallel robots. The parallel robots can provide the complementary solution for the serial classical robots due to their higher positioning accuracy, higher speeds for the overall displacement and very good dynamic behavior. Considering the higher dynamics and the heavy loads that can be manipulated in a rather small operational space, the description of the working space, and the real position of the end-effectors reference point presents special interest due to the problems that are arising in the calculus and modeling of the parallel robots behavior. In the present paper a method is presented that generates the graphical visualization and the analysis elements for a defined parallel robot working space. The latest results obtained demonstrate that from the kinematical model and graphical simulation the implemented algorithm offers a high degree of generality. The calculation time, necessary for the generating of working space is relatively small.
6 citations
25 May 2006
TL;DR: Product life management (PLM) is considered as an optimum solution for grouping all the restrictions under a single umbrella, having different specialized software packages for CAD/CAM/FEA/PDM.
Abstract: The paper deals with optimized facilities regarding robots, seen as very complex systems, that within the design and modeling must consider long lists of restrictions. Therefore, product life management (PLM) is considered as an optimum solution for grouping all the restrictions under a single umbrella, having different specialized software packages for CAD/CAM/FEA/PDM.
01 Jan 2006
TL;DR: The preoccupations presented in this paper are considering thePLM (product life management) approach for defining the control design based on the control strategies that are developed by using the PLM criteria.
Abstract: The development of new robotized structures is heavily oriented in the mini and micro robots direction covering all the EU fields of interest like IT new devices, health, biotechnologies, new materials and production technologies & management, energy & automotive, security and environment monitoring & protection. The mini robotics industry and mini robotics applications imply new technological meanings like adequate materials, manufacturing facilities, devices etc. and therefore a safety control system. The special characteristics of the mini-robots consist in: components dimensions, actuating systems; energy supply facilities, the components materials shape and functionality. The preoccupations presented in this paper are considering the PLM (product life management) approach for defining the control design based on the control strategies that are developed by using the PLM criteria. The elements that are defining the PLM are the CAD -the computer aided systems design, CAMcomputer aided manufacturing, CAE-computer aided engineering and the PDM –product data management. Briefly, from the development point of view it can be considered that
01 Jan 2006
TL;DR: The algorithms for the kinematic and dynamic analysis of two 6 DOF parallel mini-manipulators: 3PPRS and 3-PPSR (so called guided in three points mechanisms) are presented and the obtained simulation results have shown that the developed models have a compact structure and could be used for the real-time control of the parallelmini- manipulators.
Abstract: One of the most important approaches in the scientific research concerning the increase of the positioning accuracy is the use of parallel structures. Parallel kinematic structures have a series of advantages that makes them adequate for the mini-robots construction: actuator positioning on the seating, miniaturization, stiffness, positioning precision and repeatability, actuators separation from the workspace. The problems concerning the kinematics and the dynamics of parallel robots are, as a rule, more complicated than those of serial ones. The dynamic modeling of parallel robots presents an inherent complexity due to their closed-loop structure and kinematic chains [3]. The paper presents the algorithms for the kinematic and dynamic analysis of two 6 DOF parallel mini-manipulators: 3PPRS and 3-PPSR (so called guided in three points mechanisms). The obtained simulation results have shown that the developed models have a compact structure and could be used for the real-time control of the parallel mini-manipulators.