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The present paper proposes some algorithms and control structures for TX 90 Staubli industrial robot. Are described and simulated different control structures using PID, PI and PD controllers. The behavior of the system is analyzed in all control structures in order to select the best structure.
Modeling and simulation of multi-fingered robot hand (MFRH) is increasingly gaining importance amongst researchers for industrial and medical applications. In this paper, a MFRH with five fingers is modeled and simulated for grasping task. This was done using a CAD tool known as Solidworks, and an analytical tool known as SimMechanics of MATLAB. The simulation results show that the improved performance...
Based on ANSOFT software, the 2d and 3d finite element models of switch reluctance motor were established, the dynamic simulations on the switch reluctance motor finite element models were researched by different control strategies. The accuracy and precision of the finite element models were verified by comparing the finite element results with MATLAB simulation results. The results show that the...
The mechanical ventilator settings in patients with respiratory diseases like chronic obstructive pulmonary disease (COPD) during episodes of acute respiratory failure (ARF) is not a simple task that in most cases is successful based on the experience of physicians. This paper describes an interactive tool based in mathematical models, developed to make easier the study of the interaction between...
The article is based on the motion characteristics of spatial link mechanism. According to a spatial practical given track, a spatial variable-length-link mechanism was designed. The model of the mechanism was constructed by MATLAB, and the complex motion track was planning to meet the need of precise planting, which supply theory basis for spatial mechanism applying to precision agriculture. By SolidWorks,...
A digital integrated development platform, which is based on Pro/E, ADAMS, ANSYS and Matlab, is introduced in this paper. A type of 6-DOF industrial robot for laser cutting is developed on this platform. In the virtual environment, the development efficiency is improved, as well as the reliability of the robot. The 3D parametric model of the laser cutting robot is firstly built by using Pro/E. Through...
The paper presents the realization of a geometrical model of the RV-2AJ robotic arm built by Mitsubishi using the CAD environment SolidWorks. The geometrical modelling was done according to the robots dimensions and without putting in virtual model the parts that don't have a major influence in his kinematics; like screws, nuts or wires. The robots arm kinematics where then resolved and its schematics...
Quantification of the lumbar spine compression and shear forces is a continuing challenge in biomechanics. The purpose of this study is to develop a virtual model with the ability to determine the kinetics of lumbar spine joints during complex activities.
Combining the state-space of generator and feedback control theory of stacker, conversion analysis research on the stacker state about normal operation from horizontal and vertical direction is done. Aiming at generator operating speed limits, the multi-speed control theory of stacker is proposed and the nonlinear speed model of speed was analyzed and abstracted. The assumption of abstract model is...
The paper presents a novel structure of the Isoglide3 parallel robot (IG3PR), as an effective robotic device with three degrees of freedom manipulation. The IG3PR manipulator offers the characteristics, advantageous relative to the other parallel manipulators (light weight construction), while on the other hand alleviates some of the traditional weaknesses of parallel manipulators, (extensive use...
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