Erik Prada
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Integrated Multiphysics Simulation and Built in Control Design of a Three Link Robotic Manipulator Open
The aim of this paper is to create a complex model of a robotic manipulator in a multiphysics simulation environment and design its control exclusively using the built-in resources of this environment, without the application of external a…
TRIPLE PARALLELOGRAM ROBOTIC EDUCATIONAL MODEL Open
The article deals with the design of an educational robot consisting of three parallelogram mechanisms. Such a type of robot automatically ensures the parallelism of the end point position with the initial end point position. This is impor…
EDUCATIONAL MODEL OF THE ROBOT Open
The article deals with the design of the educational model of the robot, where, in addition to kinematics, the control system of the robot and the simulation of the robot's activity in the GAZEBO environment are also addressed. Students ca…
EXPLORATION OF THE INVERSE AND FORWARD KINEMATICS OF A TWO-LINK ROBOT ARM USING MATLAB Open
This contribution focuses on solving the inverse and forward kinematics in the kinematic analysis of a two-link manipulator model. It involves determining the trajectory of the end effector through fifth-degree polynomial interpolation. Fu…
Manipulator Trajectory and Workspace in the MATLAB and MSC ADAMS Environments Open
The contribution is dedicated to computer modelling and its application in the design of mechanical systems with a focus on manipulator and robot models.This article discusses the use of Matlab/Simulink and MSC Adams/View programs in the d…
Modeling of a Quarter-Car Model Passing an Obstacle Using Laplace Transforms, MATLAB/SIMULINK and SimScape Open
In this paper, the possibilities of modelling a quarter model of a car as it passes over an obstacle are presented.The Laplace transform was first used to solve the differential equations that describe this dynamic action.As the next optio…
Mathematical Modeling of Robotic Locomotion Systems Open
This article deals with the presentation of an alternative approach that uses methods of geometric mechanics, which allow one to see into the geometrical structure of the equations and can be useful not only for modeling but also during th…
Sensing of Continuum Robots: A Review Open
The field of continuum robotics is rapidly developing. The development of new kinematic structures, locomotion principles and control strategies is driving the development of new types of sensors and sensing methodologies. The sensing in c…
NON-MINIMUM PHASE SYSTEMS Open
The aim of this paper is to create a mathematical model of a manipulator of a dynamic system with a non-minimum phase. The first introductory part of the paper deals with the actual problem of manipulator control. The second part deals wit…
MODEL-BASED METHODOLOGY FOR DESIGNING AUTOMATED WORKPLACES Open
The article deals with model-based methodology for designing automated workplaces with control systems using programmable logic controllers. A categorization of some development methodologies and simulations of automated system control is …
ASSESSMENT OF THE CONDITION OF NON-CONTACT THERMOMETERS Open
The article deals with the methodology of verification of non-contact thermometers. A black body calibrator intended for infrared non-contact thermometers, which is considered an etalon gauge, is used to assess selected metrological proper…
Upgrade of Biaxial Mechatronic Testing Machine for Cruciform Specimens and Verification by FEM Analysis Open
This article deals with the modernization of an existing loading system for the analysis of elastic–plastic properties of sheet metals in plane stress. The identification of the beginning of plastic deformation of sheet metal in plane stra…
BIPED ROBOT WITH UNCONVENTIONAL KINEMATICS Open
The article deals with the design of a robot with an unconventional kinematic structure, which is able to vertically stabilize the position of the robot base for the placement of sensors and handling superstructures. The robot concept was …
TWO-LEGGED ROBOT CONCEPTS Open
The article deals with the concepts of a two-legged walking robot. Three kinematics concepts are proposed in order to achieve the lowest possible number of actuators and the best possible energy efficiency. Walking cycle algorithms are als…
Methods of Linearization of Nonlinear Dynamic System Open
In This Research paper, described different linearization methods in terms of analytical and numerical simulation (Computer added linearized -FE) method and Digital image correlation method for prediction of loading analysis. Article can b…
VERIFICATION OF THE TORQUE GAUGES Open
The article deals with the methodology of verification of mechanical and electronic torque gauges. Legislative metrological requirements are set for these gauges and the verification process for these types of gauges is also set. The worki…
ROBOTIC GRIPPER ACTUATED USING THE SHAPE MEMORY ALLOY ACTUATORS Open
The article deals with the design of a gripper for a manipulator. The use of a shape memory alloy actuator, which is excited by heating by means of an electric current, is proposed for driving the gripper jaws. Variant solutions of the gri…
KINEMATICS OF TWO LINK MANIPULATOR IN MATLAB/SIMULINK AND MSC ADAMS/VIEW SOFTWARE Open
The paper deals with the kinematic analysis of a manipulator mechanism. The matrix method of kinematic analysis is used for the solution. The robot's mechanism is an open kinematic chain. The vector of position, velocity and acceleration i…
Using Virtual Scanning to Find Optimal Configuration of a 3D Scanner Turntable for Scanning of Mechanical Parts Open
The article describes a method of simulated 3D scanning of triangle meshes based on ray casting which is used to find the optimal configuration of a real 3D scanner turntable. The configuration include the number of scanners, their elevati…
Chimney Sweeping Robot Based on a Pneumatic Actuator Open
The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation ele…
OPTIMIZING A QUADRUPED ROBOT: A COMPARISON OF TWO METHODS Open
Robots that have been optimized in simulation often underperform in the real world in comparison to their simulated counterparts. This difference in performance is often called a reality-gap. In this paper, we use two methods, genetic algo…
POWER AND FORCE LIMITING TECHNIQUE AT COLLABORATIVE WORKPLACE Open
Nowadays, the automotive industry still incorporates collaborative robots and their applications into the less traditional processes to automate them. The purpose is to make up for the skill gap, retain skilled staff, attract the younger g…
MODELLING OF DYNAMIC SYSTEMS IN STATE SPACE Open
This paper deals with the solution of dynamical systems in state space. Complicated differential equations are converted into a simpler form by using state variables in vector matrix. It is used for multi-input and multi-output systems, an…
A Portable BVM-based Emergency Mechanical Ventilator Open
The paper deals with development of an artificial lung ventilation. The aim of the paper is to present developed ventilator based on bag-valve-mask, which could be used as alternative to mechanical ventilator in critical situations related…
APPLICATION OF DENAVIT HARTENBERG METHOD IN SERVICE ROBOTICS Open
This work focuses primarily on the D-H method, as one of the most important methods used in the process of designing robotic structures. In the introduction, the history of the D-H method and its general use is briefly mentioned. In the fo…
A snake robot for locomotion in a pipe using trapezium-like travelling wave Open
Snake robots are a suitable solution for various types of applications, especially in rough terrain or hardly accessible areas such as, for example, pipes. This article deals with a snake robot moving in a pipe using a so-called trapezium-…
Specific Problems in Measurement of Coefficient of Friction Using Variable Incidence Tribometer Open
The subject of this paper is the solution to specific problems in the measurement of the coefficient of the sliding friction of material pairs using a variable incidence tribometer. The aim of this work was to solve the questions of the me…
Kinematics of Serial Manipulators Open
This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area o…
RECONFIGURABLE WHEEL-LEGGED ROBOT Open
The paper deals with the reconfigurable robot design.A robot should be able to locomote via using wheels on a smooth terrain and locomote via using legs on a rough terrain or if necessary also cross an obstacle.The transformation between l…