This thesis deals with design of 3 axis manipulator which manipulate wit ball bearing and moulding of pulley. Moulding of pulley is product of injection press. Part of this work is also technical-economics valuation of manipulating possibilities with ball bearing and pulley and is determinate the most useful option. Next is work out a conception of conveyor for ball bearings and pulleys.

The first part of this thesis describes the current technologies of mechanical spin-ning. This is a ring, rotor and air-jet spinning. The product of spinning machines is yarn, the basic material for production textile. The next section describes in detail the current state of the node manipulator lifter tube on spinning machine TORNADO J20, by concern RIETER. It describes the structure, kinematics, duty cycle and requirements for the manipulator. The following optimization options which are described more options for solutions of individual functions of the manipulator, on the end is selected by multi-criteria analysis. The best solution that is elaborate in the next section. The author has created 3-D model optimized lifter tube. Positioning mechanism maintains the current kinematics, it is very similar. But gripper was designed as a passive, thus reduce the load positioning mechanism. Optimization was performed primarily to reduce overall production costs and to reduce weight manipulator. The conclusion is a comparison of current and new solutions. There are also eco-nomic recovery to.

This paper describes the design of equipment for measuring the wettability of surfaces. Surface wettability is determined by analyzing the profile drops, in an image taken with a digital camera. After the equipment is required to automatically find and focus the analyzed drops, taking the image, measuring wettability and save the image analysis, including measurement results to a file for subsequent offline analysis and archiving. The proposed facility is designed as a three-axis manipulator. For the driving the axes are chosen stepper motors. A key factor in achieving the highest possible speed measurement is very smooth movement of the manipulator, which is achieved by controlling of motors in microstepping mode with very high resolution. Software entire system is designed in the NI LabVIEW development environment for image processing was used module NI Vision.

The goal of master’s thesis is design of a three-axis manipulator working as x-ray unit. Axis include one rotary and two liner. The work is based on the existing manipulator and the goals are reducing vertical installation space, weight reduction, increasing accuracy and repeatability. Creating 3D model with computational report from available components. There is resulting variant solved with linear motor in this thesis with that there is indicated alternative variant but not dealt with in detail.

The thesis deals with the changes of a cable robot to a manipulator. The mechanical changes are mostly about adding an active part to a moving platform with the ability to transfer objects and the effort to exchange the silicon cables for metal ones. The main part of the thesis is the proposed design and implementation of the algorithm for detection of a possible collision of the cable robot with an object in its working space.

This thesis presents model-based adaptive motion control algorithms for under-actuated aerial robotic manipulators combining a conventional multi-rotor Unmanned Aerial Vehicle (UAV) and a multi-link serial robotic arm. The resulting control problem is quite challenging due to the complexity of the combined system dynamics, under-actuation, and possible kinematic redundancy. The under-actuation imposes second-order nonholonomic constraints on the system motion and prevents independent control of all system degrees of freedom (DOFs). Desired reference trajectories can only be provided for a selected group of independent DOFs, whereas the references for the remaining DOFs must be determined such that they are consistent with the motion constraints. This restriction prevents the application of common model-based control methods to the problem of this thesis. Using insights from the system under-actuated dynamics, four motion control strategies are proposed which allow for semi-autonomous and fully-autonomous operation. The control algorithm is fully developed and presented for two of these strategies; its development for the other two configurations follows similar steps and hence is omitted from the thesis. The proposed controllers incorporate the combined dynamics of the UAV base and the serial arm, and properly account for the two degrees of under-actuation in the plane of the propellers. The algorithms develop and employ the second-order nonholonomic constraints to numerically determine motion references for the dependent DOFs which are consistent with the motion constraints. This is a unique feature of the motion control algorithms in this thesis which sets them apart from all other prior work in the literature of UAVmanipulators. The control developments follow the so-called method of virtual decomposition, which by employing a Newtonian formulation of the UAV-Manipulator dynamics, sidesteps the complexities associated with the derivation and parametrization of a lumped Lagrangian dynamics model. The algorithms are guaranteed to produce feasible control commands as the constraints associated with the under-actuation are explicitly considered in the control calculations. A method is proposed to handle possible kinematic redundancy in the presence of second-order motion constraints. The control design is also extended to include the propeller dynamics, for cases that such dynamics may significantly impact the system response. A Lyapunov analysis demonstrates the stability of the overall system and the convergence of the motion tracking errors. Experimental results with an octo-copter integrated with a 3 DOF robotic manipulator show the effectiveness of the proposed control strategies. / Thesis / Doctor of Philosophy (PhD)

This project investigated the implementation and evaluation of various collision-free path planning algorithms for the Saab Seaeye eM1-7 6-DOF Electric Manipulator (eManip). The primary goal was to enhance the autonomous performance of the eManip by integrating efficient path planning methodologies, ultimately ensuring the avoidance of collisions and manipulator singularities during underwater operations. Key algorithms examined included the Rapidly-exploring Random Trees (RRT) algorithm and its enhanced variants. Through simulation tests in MATLAB and Gazebo, metrics such as planning time, path length, and the number of explored nodes were evaluated. The results highlighted the robustness of Goal-biased and Bidirectional RRT* (Gb-Bd-RRT*), which consistently performed well across various environments. The research also highlighted the correlation between algorithm effectiveness and specific task attributes, emphasizing their adaptability to complex environments. This research contributes valuable insights into the effectiveness of path planning algorithms, informing the selection and integration of viable strategies for 6-DOF robotic manipulators.

Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator (PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets. / text

The theme of this diploma thesis is the manipulation in literature as a dialog between the I and the You or the I and the It. This I has a different position in each of the two types of manipulation. In the first type the I is the subject of manipulation - that is a manipulator. In the second one the I becomes the object of manipulation - thus a victim of a manipulator because the power over the I has been overtaken by other character's consciousness. The I and the You type is represented by an outside dialog (between characters), whereas the I and the It type is demonstrated in an inside dialog which does not occur between the hero and another character but between the hero and a voice of other character's consciousness. The opening part which deals with the manipulation in different contexts (philosophical, political and psychological) is followed by a part where I interpret the manipulation's representation in literature, especially in the works of Dostojevskij (The Double, The Village of Stepanchikovo, Notes from Underground, The Eternal Husband). With the characters of this author we can view the dark side of the human mind and also have a close look at various forms of arbitrariness, especially at the manipulation with the others.

Quando as atividades de um sistema mecatrônico são realizadas em ambientes com intenso campo elétrico e ou magnético, os dispositivos que irão executar as tarefas devem ser cuidadosamente projetados para que a presença de peças metálicas não se torne um risco. O campo elétrico pode gerar descargas elétricas e o campo magnético, exercer forças não previstas sobre peças metálicas. Assim o uso de alguns elementos, como motores elétricos, peças metálicas ou sensores eletrônicos se torna inviável. A motivação inicial para esse trabalho foi encontrar um atuador que possa ser construído sem o uso de elementos metálicos e com ele, construir um manipulador inerte a campos magnéticos e elétricos. Neste contexto, a transmissão de energia para os atuadores por meios hidráulicos ou pneumáticos se torna a opção mais indicada. Frequentemente, sistemas pneumáticos e hidráulicos apresentam atuadores com componentes metálicos, devido a resistência mecânica destes componentes. Em situações na qual os requisitos quanto a esforços são menores, elementos metálicos podem ser substituídos por materiais poliméricos de uso comum na Engenharia. Entre os atuadores hidráulicos e pneumáticos, um que já apresenta poucas partes metálicas é o músculo pneumático artificial (MPA). O MPA possui características tais como: baixo peso relacionado ao esforço gerado, escala de esforços similar a um cilindro pneumático de mesmo tamanho e construção simples. Assim, o MPA foi escolhido como atuador para o manipulador não-condutor desenvolvido neste trabalho. Adotando o MPA como elemento central, este trabalho tem por objetivo identificar as diretrizes para a aplicação do MPA na construção de um manipulador inerte a campos elétricos e magnéticos. Para isso, primeiramente foi desenvolvido um MPA livre de qualquer parte metálica. Visando sua aplicação, as características do músculo como: gama de esforços, tempo de resposta e histerese foram avaliadas através de testes. Algumas estratégias de controle do atuador foram testadas e comparadas, e com o atuador desenvolvido foi construído um manipulador inerte a campos magnéticos e elétricos. O manipulador construído tem como objetivo exercer movimentos distintos sobre a mão de um paciente, o mesmo deve acompanhar o paciente durante um exame de ressonância magnética. O atuador apresentou uma gama de esforços dentro do previsto, um tempo de resposta característico de atuadores pneumáticos e ao contrário do esperado, uma baixa histerese. Através de elementos mecânicos e com o uso de dois MPA, o manipulador foi capaz de exercer um trabalho sobre a mão de um voluntario fora do campo da RM, mostrando a viabilidade da aplicação. / When activities executed by a mechatronic system are performed in environments with strong magnetic and or electric field, the devices that will perform the tasks should be carefully designed so that the presence of metal parts does not become a risk. The electric field can generate electrical currents and the magnetic field may exert unexpected force in a metal part. Thus the use of some elements, such as electric motors, metallic parts or electronic sensors becomes unviable. The initial motivation for this work was to find an actuator that could be built without metallic elements and, using such actuator, build a manipulator inert to magnetic and electric fields. In this context, the use of hydraulic or pneumatic actuators becomes the most indicated option. Frequently, pneumatic and hydraulic systems have actuators with metal parts so as resist mechanical loads. In situations where the actuator is loaded by small loads, metal parts may be replaced by polymeric materials commonly used in Engineering. Among hydraulic and pneumatic actuators, one that already presents a few metal parts is the pneumatic artificial muscle (PAM). PAM has characteristics such as: low weight to effort ratio, simple construction as well as range of generated force and dimensions similar to a pneumatic cylinder. Thus, the PAM is chosen as the actuator for the non-conductive manipulator developed in this work. Adopting the PAM as a central element, this work aims identifying directives on using the PAM in the construction of a manipulator inert to electric and magnetic fields. For this, firstly it is developed a PAM free from any metal part. Next, the characteristics of the PAM such as range of efforts, response time and hysteresis curve are assessed through tests. Some strategies for the actuator control are tested and compared. Finally, using the developed actuator, a manipulator inert to magnetic and electric fields are constructed. The purpose of this manipulator is to induce motions to the fingers of a patient hand while the patient is examined in a MRI (magnetic resonance imaging) equipment. The actuator presented a range of efforts according to expectations, a response time compatible with pneumatic actuators and, contrary to expectations, low hysteresis.