Řada strojní. 2016, roč. 62 / Mechanical Series. 2016, vol. 62
Permanent URI for this collectionhttp://hdl.handle.net/10084/111981
Browse
Recent Submissions
Item type: Item , Development and applications of a free cutting by nonconventional tools(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Vasilko, Karol; Pilc, Jozef; Stančeková, Dana; Čep, RobertIn publications concerning unconventional schemes can be seen working draft of different designs of rotation turning tools and tools with linear cutting edge. Sporadically, this tools has appeared in the specialized publications. So far its operational characteristics, mainly its considerable influence on machined surface quality, exceptional durability and possibility to be used to turn hard machinable and other materials. Some of its priorities are verified in this paper.Item type: Item , Measuring distances using the 3D optical device for the needs of mobile robotics(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Vachálek, Ján; Rovný, Oliver; Palenčár, Rudolf; Ďuriš, StanislavThis paper presents the collision-free operation of a robotic arm mounted on a mobile robotic unit, using the MS Windows Kinect 3D optical system. The 3D optical system is used for measuring distances and aiding the collision-free manipulation of objects by means of the robotic arm installed on the mobile robotic system (MRS). Attaching of the optical system directly to the robotic arm, essentially, ensures the autonomy of the overall system. The MRS is capable of recognizing the pre-defined objects in the three-dimensional space as well as automatically approaching and manipulating them using the robotic arm. The aim of this article is to present the algorithms used in the MRS to guarantee the collision-free operation of the system. The novelty of our approach lies in the a priori collision avoidance strategy instead of solving collision states as they occur. In addition, the article presents the problem of the localization of the objects in the robot’s surrounding. For this purpose, the balls randomly placed on the floor were localized by the MRS, estimating their real coordinates. Instead of using the standard RGB color space, we propose to utilize the HSV color space in order to enhance the process of objects recognition since the HSV color space provides the more consistent results in the case of varying intensity of the ambient light.Item type: Item , Modifications of the mobile robotic system crawler(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Suder, Jiří; Bobovský, Zdenko; Krys, Václav; Kot, TomášThe paper describes modifications of an inspection mobile robotic system. Those were carried out in order to increase the functional value of the current mobile robot. Fulfilling the required functions of the current system was evaluated in its functional tests. The acquired parameters of fulfilling the functions were compared with similar existing systems. Next, concepts of solutions for individual robot subsystems were designed and mutually compared. When designing the concepts of the subsystem for image processing from individual cameras, it was necessary to experimentally evaluate the speed of image digitalization by existing video converters. The paper also describes the used methodology of evaluation of image transmission delay from the robot camera to operator’s station. The final part of the paper focuses on evaluation of the achieved results and further suggestions for modifications of the robotic system which arose during the performed modifications.Item type: Item , Residual stresses analysis methodology during cyclic plastic deformation carbon steel(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Ochodek, Vladislav; Rusz, StanislavOne of the trends in development of new metal materials, respectively the increase of their mechanical properties, is the use of cyclical plastic deformation. Evaluation of resulting properties of given materials conducted only at the end of the process does not, however, enable to phase individual steps of the cyclical process in order to optimize technological parameters. A very suitable approach to describe the behaviour of materials during repeated plastic deformation seems to consist in a non-destructive analysis of residual stresses. The paper describes the method of analysis of residual stress based on the Barkhausen noise which is applied in the process of increasing mechanical properties of steel plates using the DRECE (Dual Rolling Equal Channel Extrusion) method [1-2].Item type: Item , Measurement of 3D space using a 2D profilograph(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Hruboš, Marián; Nemec, Dušan; Šimák, Vojtech; Hrbček, Jozef; Pirník, RastislavThis article proposes a method how to create a measurement system which can be used as a terrestrial laser scanner. The system utilizes laser scanner LD-OEM 1000. It measures profiles therefore it is capable to capture an area 360 degrees around itself at the width of one laser impulse. Our method of the terrestrial scanning benefits from the fact that the measured profiles are in vertical plane and the rotation of the whole scanner allows us to create complete 3D model of the surrounding space. The article explains design of the controlling software and mechanical construction used for desired rotational motion of the whole scanner. Proposed method has been tested on real hardware and the achieved results are presented at the end of the article.Item type: Item , Stiffness models of novel force/displacement sensors(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Hricko, Jaroslav; Havlík, ŠtefanMiniaturization in field of robotics leads to use of elastic deformation where whole robotic device (precise positioning device, micro-gripper, etc.) is build from one piece of material. The disadvantage of such specific robotic devices is complicated approach to measure of their movement and acting forces. Application of influence of electromagnetic field with parallel resonating circuit seems as suitable method for sensing small deflections. This paper describes mentioned method of wireless measurement of small deflections of compliant robotic structure. Two structures of one and two-component force/displacement sensor are presented as examples using this approach. In the paper we are focused to mathematical description of stiffness models which provide basic static and dynamical properties of such structures.Item type: Item , Teleoperated humanoid robot(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Grushko, Stefan; Bobovský, ZdenkoArticle describes technical solution of teleoperated humanoid robotic system. To acquire position data of operator’s body Kinect sensor is used. In article are described mathematical equations used to transform data from Kinect sensor to positions of each servomotor of the robot. Article also describes software and electric structure for both components of the system: robot and operator’s PC. All software solutions are developed using C#. For dynamic simulation of the system a detailed model of the robot has been created in V-Rep, simulation receives same data as real robot.Item type: Item , Simple statically indeterminate truss (linear, nonlinear and stochastic approach)(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Frydrýšek, KarelThis contribution deals with simple planar and statically indeterminate pin-connected truss. This truss contains 3 members. The ways and methods of derivations and solutions according to theories of 1st and 2nd order are shown. There are applied linear and nonlinear approaches and their simplifications via Maclaurin's series. Programming connected with stochastic Simulation-Based Reliability Assessment Method (i.e. direct Monte Carlo Method) is used for determination of probabilistic reliability assessment (i.e. calculation the probability that plastic deformation occur in members of truss). Finally, the errors of all approaches are evaluated and compared.Item type: Item , Control of mobile robot using web interface(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Bubeníková, Emília; Kanalíková, Alžbeta; Hruboš, MariánThis contribution deals with the control wheel mobile wireless system. It describes the theoretical knowledge from the mentioned field and also the practical implementation of the whole system. This realization consists of creating the appropriate hardware and software. Contribution shows the possibilities of wireless control equipment using wireless communications and a large number of Internet options.Item type: Item , Effects of active vibration control of journal bearings(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Tůma, Jiří; Šimek, Jiří; Mahdal, Miroslav; Škuta, Jaromír; Wagnerová, RenataThe article deals with the stability of the movement of the journal inside the bushing of the hydrodynamic plain bearings, which limits the operational range of rotor rotational speed. The purpose of active vibration control using piezoactuators is to increase the limit of the rotor rotation speed without onset of a whirl. It is also required maintaining the bearing journal position without vibration and reducing friction losses at the steady-state rotation. The main topic is the presentation of the results of the test of the journal bearing with the use of a test bench.Item type: Item , Verification of SLAM methods on ROS platform(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Sivý, Radovan; Perduková, DanielaThe paper deals with the problem of experimental vehicle concept for 3D SLAM method based on data from Kinect device. One part of the paper describes the design, implementation and description of the physical model of the experimental vehicle. The second describes an odometry representation with a mathematical model of the Ackerman steering as well. Next describes the ROS platform, which was determined to solve complex robotic tasks. Last part of the paper contains to the evaluation of the results of 3D mapping and localization in unknown space.Item type: Item , Implementation of the principles of TPM in field of maintenance preparations(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Schindlerová, Vladimíra; Šajdlerová, Ivana; Zmeškal, PavelTotal Productive Maintenance (TPM) is one of the ways to ensure efficient production processes. TPM is primarily associated with the management of maintenance of production equipment. This article deals with the possible implementation of total productive maintenance in other field of maintenance of working means, and it the maintenance of preparations. Experience from practice shows that TPM approaches may be suitable for the maintenance management in this field. In this article are stated the conclusions drawn from the implementation of the principles of TPM in a concrete enterprise having available about 14,400 preparations.Item type: Item , Testing the performance characteristics of manipulating industrial robots(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Kumičáková, Darina; Tlach, Vladimír; Císar, MiroslavThe article is aimed at an issue of assessment of performance criteria of manipulating industrial robots with focusing on positioning performance. There are presented: the testing of one-directional pose accuracy and repeatability on Robot Fanuc LR Mate 200iC within the Laboratory of the Department of Automation and Production Systems and processing of the measured data. The laser interferometer Renishaw and digital indicator Mitutoyo Digimatic were used for performing the testing experiments.Item type: Item , Influence of severe plastic deformation on mechanical properties and structure of aluminium alloys(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Hilšer, Ondřej; Rusz, Stanislav; Čada, Radek; Salajka, Michal; Dutkiewicz, JanArticle is devoted to analysis of ECAP (Equal Channel Angular Pressing) method, which uses a high degree of deformation to achieve a very fine-grained structure of formed material. Utilization of The ECAP technology enables attainment of required properties of selected materials by using of severe plastic deformation (SPD methods). In the experimental part the influence of the number of passes through forming tool with classical geometry (angle of 90° between channels) was studied to achieve maximum hardening (expressed by deformation resistance and achieved value of hardness HV10). Also the metallographic analysis (detection of achieved grain refinement) was carried out. From comparison of results achieved at both alloys it can be stated that for given forming by ECAP method the EN AW-8006 alloy is preferable, because higher strength degree was obtained by achieving of very fine grained structure. When using the same method of forming by ECAP method the EN AW-2024 alloy has lower hardening and structure refinement.Item type: Item , Low-cycle fatigue of AA2124T851(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Halama, Radim; Fusek, Martin; Adámková, Ludmila; Fojtík, FrantišekThis paper presents an overview of extensive set fatigue tests results in low-cycle domain carried out at the Department of Applied Mechanics at the VŠB – Technical University of Ostrava on smooth specimens made of 2124T851 aluminum alloy. Overall, results of 24 tests of the aforementioned type under proportional loading and 40 tests under non-proportional loading with various strain path shapes were evaluated within the FADOFF project (Fatigue Analysis Documentation Office) supported by the Technology Agency of the Czech Republic. All tests were realized under the zero mean strain at the room temperature. Investigated aluminum alloy has exhibited in the torsion tests significantly shorter lifetime than under the tension-compression symmetrical loading at the same level of equivalent strain amplitude. The experimental set was realized in order to validate low-cycle fatigue criteria in a future work.Item type: Item , Parameters influence of CO2 laser on cutting quality of polymer materials(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Čep, Robert; Malotová, Šárka; Pagáč, Marek; Sadílek, Marek; Lichovník, JiříThe article deals with evaluating of the resulting surface state of the three plastic materials and identification of suitable conditions for laser cutting with CO2 tube. As representative were chosen polypropylene, polymethylmethacrylate and polyamide. When cutting these types of materials it could melt eventually their re-sintering. A suitable combination of parameters is possible to achieve of sufficient quality of the cut. The samples were cut at different feed speed and laser power. Then they was compared on the basis of the measured roughness parameters Ra a Rz by using a portable touch roughness Hommel-Etamic W5 and dates was processed according to ČSN EN ISO 4287. Cutting of samples was realized at the Department of Machining, Assembly and Engineering Metrology, VŠB-TUO.Item type: Item , The modelling of mechanism with parallel kinematic structure in software Matlab/Simulink(Vysoká škola báňská - Technická univerzita Ostrava, 2016) Bulej, Vladimír; Uríček, Juraj; Eberth, ManfredThe article deals with the preparation of simulation model of mechanism with parallel kinematic structure called hexapod as an electro-mechanical system in software MATLAB/Simulink. The simulation model is composed from functional blocks represented each part of mechanism’s kinematic structure with certain properties. The results should be used for further simulation of its behaviour as well as for generating of control algorithms for real functional prototype.