Este trabalho apresenta a modelagem matemática e a estratégia de controle de posição de um robô pneumático para fins de aplicações industriais, incluindo-se os resultados de testes experimentais. Tal robô foi desenvolvido no Núcleo de Inovação em Máquinas Automáticas e Servo Sistemas (NIMASS) da Unijuí Câmpus Panambi. Atuadores pneumáticos são sistemas muito atrativos para diversas aplicações, em especial na robótica, porque eles têm a vantagem de baixo custo, leveza, durabilidade e são limpos, também possuem facilidade de manutenção, têm boa relação força/tamanho e flexibilidade de instalação, e além disso o ar comprimido está disponível na maioria das instalações industriais. Entretanto, sistemas de posicionamento pneumático possuem algumas características indesejáveis as quais limitam o uso destes em aplicações que requerem uma resposta precisa. Estas características indesejáveis são causadas pela compressibilidade do ar e pelas não linearidades presentes em sistemas pneumáticos, tais como o comportamento não linear da vazão mássica nos orifícios da válvula e sua zona morta, além do atrito nas vedações do cilindro pneumático. Neste trabalho obtém-se um modelo matemático não linear de 10ª ordem (total) para os dois primeiros graus de liberdade do robô que tem a estrutura cinemática do tipo Gantry. Os parâmetros da zona morta e do atrito foram obtidos experimentalmente e o modelo proposto foi validado em malha aberta para a primeira junta. É implementada uma estratégia de controle clássico com compensação da não linearidade da zona morta em testes experimentais com malha fechada e planejamento da trajetória desejada senoidal e trapezoidal, sem e com a compensação da zona morta, cujos resultados ilustram as características do controlador utilizado e a importância da compensação da zona morta. Este trabalho de pesquisa contribui para o desenvolvimento e o controle de posição de robôs pneumáticos de baixo custo para aplicação industrial. / 131 f.

One of the main advantages of the Gantry-Tau machine is a large accessible workspace\footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio further by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. In this Thesis some of the features of the Gantry-Tau structure are described and results are presented from the analysis of the kinematic, elastostatic and elastodynamic properties of the PKM. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this thesis introduces a multi-objective optimisation scheme based on the geometric approach for the workspace area, unreachable area, joint angle limitations and link collisions as well as the functional dependencies of the elements of the static matrix and the Laplace transform to define the first resonance frequency and Cartesian and torsional stiffness. The method to calculate the first resonance frequency assumes that each link and universal joint can be described by a mass-springdamper model and calculates the transfer function from a Cartesian (TCP) force or torque to Cartesian position or orientation. The geometric methods involve the simple geometric shapes (spheres, circles, segments, etc) and vectors. The functional dependencies are based on the properties between the kinematic parameters. These approaches are significantly faster than analytical methods based on the inverse kinematics or the general Finite Elements Method (FEM). The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation gives the following features: • Workspace/footprint ratio more than 3.19. • First resonance frequency greater than 48 Hz. • Lowest Cartesian stiffness in the workspace 5N/μm. • The unreachable space in the middle of the workspace is not detected. • No link collisions. The results show that by careful design of the PKM, a collision free workspace without the unreachable area in the middle can be achieved. High stiffness and high first resonance frequency are important parameters for the the Gantry-Tau when used in industrial applications, such as cutting, milling and drilling of steel or aluminium and pick-and-place operations. These applications require high static and dynamic accuracy in combination with high speed and acceleration. The optimisation parameters are the support frame lengths, actuator positions,endeffector kinematics and the robot’s arm lengths. Because of the fast computational speed of the geometric approaches and computational time saving of the methods based on the functional dependency, they are ideal for inclusion in a design optimisation framework, normally a nonlinear optimisation routine. In this Thesis the evolutionary algorithm based on the complex search method is used to optimise the 3-DOF Gantry-Tau. The existing lab prototype of this machine was assembled and completed at the University of Agder

Remote experimentation and control have led researchers to develop new technologies as well as implement existing techniques. The multidisciplinary nature of research in electromechanical systems has led to the synergy of mechanical engineering, electrical engineering and computer science. This work describes the design of a model of a Gantry Mechanism, which maneuvers a web-cam. The user controls virtually the position of end-effecter of the Gantry Mechanism using a Graphical User Interface. The GUI is accessed over the Internet. In order to reduce the unbalanced vibrations of the Gantry Mechanism, we investigate the development of an algorithm of input shaping. A model of the Gantry Mechanism is built, and it is controlled over the Internet to view experimentation of the SCARA Robot. The system performance is studied by comparing the inputs such as distances and angles with outputs, and methods to improve the performance are suggested.

Standards are, nowadays, a useful and sometimes essential tool, in the world of automated industry. Since the development of the standard IEC 61131-3, automation has made progresses in a consistent manner. This allows an engineer to develop control programs for any type of systems using the language set in the standard. However, this standard was not enough because it did not cover the control over distributed systems. Therefore, it was necessary to establish rules in this field. In order to fill this gap, the new standard IEC 61499 was developed. Its main objective is to describe how to develop, design and implement distributed control systems, using the new concept of function blocks. By the use of the new function blocks, it is possible to control distributed systems in a quick and easy way, adding some advantages such as reusability, portability, and much enhanced maintenance.This project involves the preparation of a manufacturing cell composed of a gantry robot interacting with a CNC machine. The project is developed in two sections; one is focused on the computer programming with function blocks for the gantry robot and HMI, and the other is prepared for the programming of function blocks for the CNC machine and HMI. The communications between PLC, PC, gantry robot and CNC machine are developed using the standard IEC 61499. This document covers the survey and research made for the first section of the project.The new standard IEC 61499 provides the methodologies and the appropriated tools to achieve a good control in distributed systems. The basic tools offered by this standard are the new function blocks which will be the main tool used in this project. Equally important, it is necessary to take into account the different assembly features and the machining features in order to design better function blocks to control the system. An HMI has to be developed in order to obtain a good interface for a worker of this cell.The aim of this project is to investigate how the new standard IEC 61499 works in a real manufacturing cell and how the new function blocks interact in a real distributed system. Moreover, it is important to see how the event flow works, controlling all the sequences required in the manufacturing cell.

Remote experimentation and control have led researchers to develop new technologies as well as implement existing techniques. The multidisciplinary nature of research in electromechanical systems has led to the synergy of mechanical engineering, electrical engineering and computer science. This work describes the design of a model of a Gantry Mechanism, which maneuvers a web-cam. The user controls virtually the position of end-effecter of the Gantry Mechanism using a Graphical User Interface. The GUI is accessed over the Internet. In order to reduce the unbalanced vibrations of the Gantry Mechanism, we investigate the development of an algorithm of input shaping. A model of the Gantry Mechanism is built, and it is controlled over the Internet to view experimentation of the SCARA Robot. The system performance is studied by comparing the inputs such as distances and angles with outputs, and methods to improve the performance are suggested.

This study compares Elmer Gantry and The God-Seeker. Part one shows the preparations of the two novels. Part two discusses the critical receptions of the two novels. The material is gathered from books and publications.The comparison also includes a study of the two novels themselves. Using critical comment as a basis, the paper compares the structure and use of setting, character, plot, style and techniques within the two novels.

One of the main advantages of the Gantry-Tau machine is a large accessible workspace\footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio further by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. In this Thesis some of the features of the Gantry-Tau structure are described and results are presented from the analysis of the kinematic, elastostatic and elastodynamic properties of the PKM. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this thesis introduces a multi-objective optimisation scheme based on the geometric approach for the workspace area, unreachable area, joint angle limitations and link collisions as well as the functional dependencies of the elements of the static matrix and the Laplace transform to define the first resonance frequency and Cartesian and torsional stiffness. The method to calculate the first resonance frequency assumes that each link and universal joint can be described by a mass-springdamper model and calculates the transfer function from a Cartesian (TCP) force or torque to Cartesian position or orientation. The geometric methods involve the simple geometric shapes (spheres, circles, segments, etc) and vectors. The functional dependencies are based on the properties between the kinematic parameters. These approaches are significantly faster than analytical methods based on the inverse kinematics or the general Finite Elements Method (FEM). The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation gives the following features: • Workspace/footprint ratio more than 3.19. • First resonance frequency greater than 48 Hz. • Lowest Cartesian stiffness in the workspace 5N/μm. • The unreachable space in the middle of the workspace is not detected. • No link collisions. The results show that by careful design of the PKM, a collision free workspace without the unreachable area in the middle can be achieved. High stiffness and high first resonance frequency are important parameters for the the Gantry-Tau when used in industrial applications, such as cutting, milling and drilling of steel or aluminium and pick-and-place operations. These applications require high static and dynamic accuracy in combination with high speed and acceleration. The optimisation parameters are the support frame lengths, actuator positions,endeffector kinematics and the robot’s arm lengths. Because of the fast computational speed of the geometric approaches and computational time saving of the methods based on the functional dependency, they are ideal for inclusion in a design optimisation framework, normally a nonlinear optimisation routine. In this Thesis the evolutionary algorithm based on the complex search method is used to optimise the 3-DOF Gantry-Tau. The existing lab prototype of this machine was assembled and completed at the University of Agder

Automated processes in the construction industry are made today by prefabricating the building items and then transport it to the building site. Instead of producing the building items and transport them to the building site there is an idea of bringing the automated process to the construction site is, as it would generate huge profits by reducing unnecessary resource waste. However, it is a difficult challenge to implement and therefore it has not got a big impact today. The standard method to build reinforcement cages today is a tiresome job for construction workers. The method to build this cages is by means of lashing reinforcements bar on sight or in be prefabricated in advance. To avoid this manual work on sight, an idea from the companies Skanska and Robotdalen is to build an automated facility that can perform this work. This idea based on today's technology can be a way to automate a process at the construction site. The objective of this facility is to enable this station to be able to be mounted and transportable. This work is based on investigating via a pre-study, how it would be possible to product realize this concept of mountable automation station for reinforcement cages. The problem that arises is that an automation station requires repeatable accuracy and very fine accuracy. That is, the automation system used to drive the station can find itself back to exactly the same position repeatedly. This places enormous demands on the design that it has to be extremely rigid in order not to be deformed. A smaller prototype of this automated station has shown that the concept works. This work is based on continuing the concept of this project and examining how a full-scale prototype of the construction can look as well as concepts for manufacturing and find solutions for possible design problems. To study this, the strategy for research been to carry out a case study for the development of this construction. The study has followed a product development model similar to the waterfall method. This means that the work has followed a step by step plan. Many steps and concepts along the way have been evaluated with interviews and with many experienced designers in the industry. Many design areas have been very special and specific, which means it has been difficult to find general data in those areas. This means that a lot of the conclusions have to been put together from the experienced interviewees. The end result of this work is a product realized model of the automation station. The model is in the form of a gantry. The gantry can be assembled into removable beams that can be placed in a 40 foot container. The conclusion of this work is that, although the concept of the design has been discussed with several parties there still remains some practical testing. The unevenness system for recurring accuracy remains to be seen if it works. The calculations that are made should also be double- check aw well complete with calculations that may not be done in this work but are required to realize the concept. Even though there needs some testing, the concept is still considered feasible. This means that it could be a possible application to automate an on-site construction process. / Automatiserade processer inom bygg industrin görs idag via att prefabricera byggämnena och skickas till byggplatsen i efterhand. Tanken om att föra den automatiska processen till byggarbetsplatsen finns då det skulle ge stor vinning genom att minska onödigt resurs slöseri. Dock är det en svår utmaning att genomföra ochdärför har det inte fått stort genomslag i dagsläget.Den standardiserade metoden för att bygga armeringskorgar idag är ett slitsamt arbete för bygg arbetare. Metoden går idag ut på att naja ihop korgar med hjälp av ett najverktyg eller förhand. För att undvika detta manuella arbete finns en idé från Skanska och Robotdalen att bygga en automatiserad anläggning som kan utföra detta arbete.Denna idé baserad på dagens teknik kan vara ett sätt automatisera en process på byggplatsen. Projektmålet med denna anläggning är att kunna göra denna anläggning monterbar och fraktbar. Detta arbete bygger på att undersöka via en förstudie hur det skulle gå att göra för att produktrealisera detta koncept av monteringsbara automationsstation för armeringkorgar. Problemetsom uppstår är att en automations stations kräver repeterbar noggrannhet. Det vill säga att automationssystemet som används för att driva stationen kan hitta tillbaka till exakt samma plats som ursprungsläget. Detta ställer ett enormt stort krav på konstruktionen att den måste vara enormt styv för att klara att inte deformeras.En mindre prototyp på denna konstruktion har visat att konceptet fungerar. Det här arbetet bygge på att ta vidare det konceptet i detta projekt ochundersöka hur en fullskalig prototyp av konstruktion kan se ut samt koncept för tillverkning samt lösningar för eventuella konstruktions problem.För att studera detta har undersökningen har strategin för forskningen varit att utföra en fallstudie för utvecklandet av denna konstruktion.Studien har följt en produktutvecklingsmodell som liknar vattenfallsmetoden. Detta innebär att arbetet har följt en steg för steg plan. Många steg och koncept på vägen har utvärderats med intervjuer med många erfarna konstruktörer inom branschen. Många konstruktionsområden har varit väldigt specialiserade vilket innebär att det har varit svårt att hitta generell information inom området utan mycket har gått ifrån erfarenhet från de intervjuade.Slutresultatet av detta arbete är en produktrealiserad modell av automationsstationen. Modellen är i form av en gantry. Gantry:n kan monteras ihop i löstagbara balkar som kan läggas i en 40 fots-container. Slutsatsen av detta arbete är att även om koncepten för konstruktionsdelarna har diskuterats med flera parter består en del att testa. Systemet för att ta upp ojämnheter för att få till repeterbar noggrannhet återstår att se om det fungerar. Det bör även dubbelkollas beräkningar samt komplettera de beräkningar som fattas. Utöver det som ska testas ses ändå konceptet ut att vara genomförbart. Detta innebär att det kan vara ett en möjlig applikation att automatisera en byggprocess på plats.

The aim of this thesis is the innovation of the testing device which is located in Institute of Machine and Industrial Design laboratory. The innovation relates to the portal construction design, where will be placed the hydraulic pulsator from the company INOVA Praha Ltd. New portal construction will be designed with respect to specified parameters and requirements and also with regard to the performed tests (damper tests, vibroizolated properties magnetorheological valves tests etc.). The thesis contains detailed analysis of the current tester and detailed analysis of similar machines with focusing on the portal structure and ways of positioning the crossmember. Further parts of the thesis is a detailed description of the design solution, including the computational simulations, attached drawing documentation and experimentally verified functional sample (crossmember).

This master´s thesis deals with gantry – type milling machines. At first gantry – type milling machines are divided according to their structure. Then basic parts of an upper gantry – type milling machine are described. This machine is designed in a calculation part of this thesis. A calculation of a cutting force, a calculation of a needed moment of a drive of a spindle and a feed screw for axis x, y, z, a design of a belt drive between the spindle and the drive are done in the calculation part. Then the model of this upper gantry – type milling machines is made. Drawings are created for some parts of this machine.