scholarly journals STRUCTURAL ANALYSIS AND CLASSIFICATION OF ROBOTIC SYSTEMS WITH DRIVING MECHANISMS ON THE BASIS OF CABLE ELEMENTS

2019 ◽  
pp. 126-136 ◽  
Author(s):  
Е. Гапоненко ◽  
E. Gaponenko ◽  
Л. Рыбак ◽  
L. Rybak ◽  
Л. Холошевская ◽  
...  
Keyword(s):  
Structural Analysis ◽  
High Mobility ◽  
Robotic Systems ◽  
Theoretical Research ◽  
Parallel Structure ◽  
Output Link ◽  
Flexible Links ◽  
Driving Mechanisms ◽  
Cable Robots

The mechanisms of the parallel structure are very diverse. Cable-driven robots that use cables instead of retractable rods to control the position of the output link are of particular interest. They have several advantages, such as large workspace, easy assembly, and disassembly, high mobility, but also there are disadvantages associated with controlling the movement of robot cables. The paper gives examples of some of the first cable robots, their purpose, and application. The article also considers Russian and foreign scientists who deal with these issues and analyzes their work. As a result of the structural analysis, the classification of cable robots is compiled and considered in detail: by the method of placing the reels, by the DOF number of the working body and the number of flexible links, by the application method, by the type of base, by the method of cable fastening. The cable robot structure for the movement of goods is given. However, there are still many areas open to theoretical research. In conclusion, the topics that need more research are considered. The most obvious area of research is control, also optimizing the workspace for different applications of these devices, finding and take advantage of all the benefits offered by cable devices.

Designing Statically Determinable Mechanisms of Technological Mechatronic Machines with Parallel Kinematics

2019 ◽  
Vol 20 (7) ◽  
pp. 428-436
Author(s):  
A. K. Tolstosheev ◽  
V. A. Tatarintsev
Keyword(s):  
Structural Analysis ◽  
Hierarchical Structure ◽  
Degrees Of Freedom ◽  
Kinematic Chain ◽  
Parallel Structure ◽  
Parallel Kinematics ◽  
Output Link ◽  
Parallel Connection ◽  
Kinematic Chains ◽  
Chain Increase

The work is devoted to improving the reliability and manufacturability of mechatronic machine designs with parallel kinematics by replacing statically indeterminable manipulators with statically determinable mechanisms. A technique is proposed in which the design of statically determinable manipulators of technological mechatronic machines with parallel kinematics is performed by modifying the structure of prototypes and includes three steps: identifying and analyzing redundant links, eliminating redundant links, checking the correctness of eliminating redundant links. To determine the number of degrees of freedom of the mechanism, identify redundant links, and verify the solution, the authors use the proposed methodology for structural analysis of parallel structure mechanisms. In structural analysis, a manipulator is represented by a hierarchical structure and is considered as a parallel connection of elementary mechanisms with an open kinematic chain; as a kinematic chain consisting of leading and driven parts; as a set of links and kinematic pairs; as a kinematic connection of the output link and the rack. The article implements the following techniques for eliminating redundant links: mobility increase in kinematic pairs; introduction of unloading links and passive kinematic pairs to the kinematic chain; exclusion of extra links and pairs from the kinematic chain; increase in mobility in some kinematic pairs simultaneously with the exclusion of other kinematic pairs that have become superfluous. The authors developed several variants of structural schemes of self-aligning manipulators based on the Orthoglide mechanism, which retain the basic functional proper ties of the prototype. To increase the number of self-aligning mechanism diagrams, the redistribution of mobilities and links within the connecting kinematic chain and between connecting kinematic chains is used. The proposed methodics allow to determine the number of degrees of freedom of the mechanism, the number and type of redundant links, eliminate redundant links and, on an alternative basis, build structural diagrams of statically determinable mechanisms of technological mechatronic machines with parallel kinematics.

scholarly journals ANALYSIS AND CLASSIFICATION OF REHABILITATION ROBOTIC SYSTEMS BASED ON PARALLEL MANIPULATORS

2020 ◽  
pp. 85-94
Author(s):  
M. Posypkin ◽  
S. Halapyan ◽  
I. Maslova ◽  
V. Mamaev ◽  
L. Virabyan
Keyword(s):  
Neurological Diseases ◽  
Three Dimensional ◽  
Motor Impairment ◽  
Parallel Manipulators ◽  
Lower Limbs ◽  
Robotic Systems ◽  
Theoretical Research ◽  
Important Place ◽  
Stl File

One of the most actual and complex problems of medicine and neurology is the rehabilitation of patients. Robotic systems currently occupy an important place in the comprehensive rehabilitation of neurological patients with severe motor impairment of various etiologies, as well as the most socially significant and common neurological diseases. The article discusses various architectures of robotic systems for the rehabilitation of the lower limbs. The article also analyzes the work of foreign scientists who deal with these issues. As a result, a classification of rehabilitation systems has been compiled and reviewed. The structure of the rehabilitation system based on a passive orthosis and active parallel 3-PRRR robot is proposed. A numerical algorithm has been developed to determine the workspace of a 3-PRRR robot, taking into account design limitations. The algorithm is based on the concept of non-uniform coverings using interval analysis methods and is implemented in the C++ programming language. The results of computational experiments are presented. The simulation results are visualized by converting a set of three-dimensional parallelepipeds into an STL file. However, many areas remain open to theoretical research. A further area of research is the optimization of the geometric parameters of the system for carrying out rehabilitation procedures.

Interpreting HVEM of muscle-cell impulse networks

1992 ◽  
Vol 50 (1) ◽  
pp. 126-127
Author(s):  
Paul DeCosta ◽  
Kyugon Cho ◽  
Stephen Shemlon ◽  
Heesung Jun ◽  
Stanley M. Dunn
Keyword(s):  
Structural Analysis ◽  
Muscle Cell ◽  
Electron Micrographs ◽  
Relative Size ◽  
Automatic Classification ◽  
Nerve Fibers ◽  
Analysis Algorithm ◽  
Structural Networks

Introduction: The analysis and interpretation of electron micrographs of cells and tissues, often requires the accurate extraction of structural networks, which either provide immediate 2D or 3D information, or from which the desired information can be inferred. The images of these structures contain lines and/or curves whose orientation, lengths, and intersections characterize the overall network.Some examples exist of studies that have been done in the analysis of networks of natural structures. In, Sebok and Roemer determine the complexity of nerve structures in an EM formed slide. Here the number of nodes that exist in the image describes how dense nerve fibers are in a particular region of the skin. Hildith proposes a network structural analysis algorithm for the automatic classification of chromosome spreads (type, relative size and orientation).

scholarly journals The structure of Volume III of the National Atlas of Lithuania and techniques of cartographic visualization

2019 ◽  
Vol 51 (1) ◽  
pp. 19-27
Author(s):  
Algimantas Česnulevičius ◽  
Loreta Šutinienė ◽  
Vigilija Krikščiūninė ◽  
Rima Svilienė ◽  
Neringa Mačiulevičiūtė-Turiene ◽  
...  
Keyword(s):  
Structural Analysis ◽  
Economic Situation ◽  
Comprehensive Information ◽  
Cartographic Visualization ◽  
Mapping Techniques

Abstract National atlases provide comprehensive information about nature, population, social and economic situation of the country. In 2017 the process of compiling and publishing the National Atlas of Lithuania (Lietuvos Nationalinis Atlasas) was finished. The goal of the authors is: in the context of the whole National Atlas to present a thorough analysis of the structure of content and cartographic visualization methods of Volume III. This volume focusses on social and economic phenomena in Lithuania. The authors discuss the principles of compiling the whole National Atlas of Lithuania and presents its structure in a concise manner. Following the classification of traditional mapping methods, specific examples of mapping in Volume III are presented, advantages of mapping techniques are discussed and the structural analysis of mapping methods is also conducted. The conclusions and the discussion part present the problems encountered while compiling Volume III as well as solutions to them.

Classification of reconfigurable modular robotic systems

2020 ◽  
Vol 20 (3) ◽  
pp. 30-37
Author(s):  
N.A. Pavliuk ◽  
Keyword(s):  
Robotic Systems ◽  
Analytical Review ◽  
Key Features ◽  
Robotic Devices

In this paper analytical review and classification of existing modular robotic systems are presented, based on the key features of the devices and their configurations. The principal issues concerning modular robotic devices, systems and connection devices are described.

CLUSTERS OF PRINCIPLES OF LEXICAL UNITS CODIFICATION

2019 ◽  
Vol 19 (3) ◽  
pp. 153-159
Author(s):  
Larisa Alimpieva ◽  
Keyword(s):  
Open Cluster ◽  
Theory And Practice ◽  
Theoretical Research ◽  
Different Types ◽  
Suggested Classification

The article presents the classification of principles of lexical units codification. For objective consideration the principles should be divided into two clusters:1) the realized/ being realized, and 2) the projected ones. Analysis of the principles of codification of lexical units in theoretical lexicographic literature and in dictionaries of different types has shown that the following principles should be included into the cluster of the realized/being realized principles: 1) universal; 2) palliative (peripheral); 3) accessory ones; and 4) principles of educational lexicography. The following principles can be included into the cluster of projected principles of codification of lexical units: 1) theoretical; 2) aspect; 3) practical ones: a) modernized, b) innovative principles. The projective principles are an open cluster which is filled as innovations in theory and practice of dictionary studies are developed. Verification of the suggested classification is possible in the course of further theoretical research.

scholarly journals Programmed task based motion analysis of robotic systems equipped with flexible links and supports

2018 ◽  
Vol 241 ◽  
pp. 01008 ◽  
Author(s):  
Elżbieta Jarzębowska ◽  
Krzysztof Augustynek ◽  
Andrzej Urbaś
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Motion Analysis ◽  
Computational Procedure ◽  
Robotic Systems ◽  
Dynamics Analysis ◽  
Flexible Link ◽  
Flexible Links ◽  
Rigid Finite Element Method ◽  
Joint Coordinates

The automatic computational procedure to derivate dynamics equations of systems with programmed constraints modified to encompass compliant mechanical components in their structures is discussed in the paper. The dynamics analysis of the compliant manipulator model with a flexible link is presented as an example. The rigid finite element method is used in order to take into account the flexibility of the link. The formalism of joint coordinates and homogeneous transformations are used to describe the manipulator motion.

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