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Precision robotics
![Precision robotics [1]](https://gomagcdn.ro/domains/editurauniversitara.ro/files/product/original/robotica-de-precizie-700543.jpg "Precision robotics [1]")
Publisher: Editura Universitară
Author: Tudor Catalin Apostolescu, Laurentiu Adrian Cartal
Edition: I
Pages: 106
Publisher year: 2024
ISBN: 978-606-28-1871-5
DOI: 10.5682/9786062818715
Product Code:
9786062818715
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We will never forget someone important in our lives
but we are just learning to live without him
but we are just learning to live without him
Professor Udrea Constantin never stopped trying, teaching us, he was never afraid of failure, because any achievement begins with the decision to try. He laid the foundations of robotics, brave and visionary, he was part of the group of those who founded and developed the field of mechatronics in Romania.
Mechatronics is the interdisciplinary technology that unites the basic disciplines and includes both fields that, otherwise, normally, could not be associated and "a synergistic combination" between precision mechanical engineering, electronic control and systemic thinking in the design of products and processes.
Engineering education is based on the development of systemic thinking and the major role of information, which determined the redefinition of objectives in the educational process through the formation of information, mental, action, social skills and the formation of teamwork skills.
Thus, we dedicate this book to all those who want to learn and improve themselves in the field of mechanical and mechatronic engineering.
Thank you, Professor Udrea Constantin
Thank you, Professor Udrea Constantin
Chapter 1. General presentation of the SolidWorks Motion/11 program
1.1. Simulation elements/15
1.2. Actuation with motors/16
1.3. Use of forces/23
1.4. Use of bows/25
1.5. Linear or torsional shock absorbers/26
1.6. 3D contacts /27
1.7. Gravitational forces/29
1.8. Simulation calculation/30
1.9. Calculation and display of kinematic and dynamic simulation parameters (simulation results)/33
1.10. Constraints /37
1.10.1. The constraint CONCENTRICITY/38
1.10.2. The "point by point" constraint/39
1.10.3. Constraint "lock"/39
1.10.4. Two constraints of the "face to face" type/39
1.10.5. The "universal" constraint/39
1.10.6. Screw type constraint/40
1.10.7. The "point on axis"/40 constraint
1.10.8. Parallelism constraint/40
1.10.9. Perpendicularity constraint/40
Chapter 2. Application examples/41
2.1. Crankshaft piston mechanism/41
2.2. Door damper/47
2.3. Crank connecting rod mechanism/53
2.4. Crank connecting rod mechanism variant/59
2.5. Assembly with cam and oscillating tach/62
2.6. Conveyor assembly with pusher mechanism/68
2.7. Conveyor assembly with pusher moving parts/75
2.8. Robot assembly - Assembly Motion/83
2.9. Robot assembly – Motion Analysis/86
2.10. Mechanical hand assembly with cam/92
2.11. Folding hood of a car/96
Bibliography/104
1.1. Simulation elements/15
1.2. Actuation with motors/16
1.3. Use of forces/23
1.4. Use of bows/25
1.5. Linear or torsional shock absorbers/26
1.6. 3D contacts /27
1.7. Gravitational forces/29
1.8. Simulation calculation/30
1.9. Calculation and display of kinematic and dynamic simulation parameters (simulation results)/33
1.10. Constraints /37
1.10.1. The constraint CONCENTRICITY/38
1.10.2. The "point by point" constraint/39
1.10.3. Constraint "lock"/39
1.10.4. Two constraints of the "face to face" type/39
1.10.5. The "universal" constraint/39
1.10.6. Screw type constraint/40
1.10.7. The "point on axis"/40 constraint
1.10.8. Parallelism constraint/40
1.10.9. Perpendicularity constraint/40
Chapter 2. Application examples/41
2.1. Crankshaft piston mechanism/41
2.2. Door damper/47
2.3. Crank connecting rod mechanism/53
2.4. Crank connecting rod mechanism variant/59
2.5. Assembly with cam and oscillating tach/62
2.6. Conveyor assembly with pusher mechanism/68
2.7. Conveyor assembly with pusher moving parts/75
2.8. Robot assembly - Assembly Motion/83
2.9. Robot assembly – Motion Analysis/86
2.10. Mechanical hand assembly with cam/92
2.11. Folding hood of a car/96
Bibliography/104
This book is intended for first-year master's students in the field of mechanical engineering and mechatronics and robotics, in the disciplines "Precision robotics", "Microrobotics and autonomous microsystems" and "Measurement and control robots". The study of precise positioning systems, of the components that enter the main actuation chain is a basic element in the development of these robots/micro robots. As a result, the dynamic and kinematic simulation of these structures is necessary.
As a result of the remarkable evolution of technologies, technical systems have become multidisciplinary, being designed and manufactured products that include mechanical and electrical components, electronic circuits and even software, which controls the behavior of the system. Regarding the constituents, a mechatronic/robot system is multidisciplinary, but what distinguishes it from an electromechanical system, for example, is the design philosophy. The integrative conceptual approach of the system made up of mechanical components, actuators, sensors, electronic control circuits and software is the defining essence of mechatronics, which abolished the traditional barriers between the mechanical, electrical and IT fields, through its trans-disciplinary attribute. This is the substance of the definition that claims a synergistic combination of the components from the mentioned fields.
Abordarea mecatronica a dezvoltarii unor sisteme interdisciplinare implica frecvent modelarea si simularea acestora, in toate etapele de realizare, de la proiectare, la fabricatie.
Pentru ca modelarea sa fie accesibila oricarui specialist, este foarte important sa se utilizeze medii de simulare si modelare ce permit analizarea acestor sisteme inainte de procesul de fabricatie. Dupa o analiza statica a sistemului proiectat, este impetuos necesara o analiza cinematica si dinamica a ansamblului proiectat. Se poate studia comportarea structurii robotice in diferite scenarii de simulare cinematice/dinamice tinand seama de incarcarile respective, de frecarile din articulatii, de jocurile constructive, etc. pentru a obtine un rezultat cat mai apropriat de o comportare reala.
As a result of the remarkable evolution of technologies, technical systems have become multidisciplinary, being designed and manufactured products that include mechanical and electrical components, electronic circuits and even software, which controls the behavior of the system. Regarding the constituents, a mechatronic/robot system is multidisciplinary, but what distinguishes it from an electromechanical system, for example, is the design philosophy. The integrative conceptual approach of the system made up of mechanical components, actuators, sensors, electronic control circuits and software is the defining essence of mechatronics, which abolished the traditional barriers between the mechanical, electrical and IT fields, through its trans-disciplinary attribute. This is the substance of the definition that claims a synergistic combination of the components from the mentioned fields.
Abordarea mecatronica a dezvoltarii unor sisteme interdisciplinare implica frecvent modelarea si simularea acestora, in toate etapele de realizare, de la proiectare, la fabricatie.
Pentru ca modelarea sa fie accesibila oricarui specialist, este foarte important sa se utilizeze medii de simulare si modelare ce permit analizarea acestor sisteme inainte de procesul de fabricatie. Dupa o analiza statica a sistemului proiectat, este impetuos necesara o analiza cinematica si dinamica a ansamblului proiectat. Se poate studia comportarea structurii robotice in diferite scenarii de simulare cinematice/dinamice tinand seama de incarcarile respective, de frecarile din articulatii, de jocurile constructive, etc. pentru a obtine un rezultat cat mai apropriat de o comportare reala.
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