Mechatronics: Ideas, Challenges, Solutions and Applications (eBook)

Preface 6
Contents 8
About the Editors 10
1 Multi-criteria Robot Selection Problem for an Automated Single-Sided Lapping System 12
Abstract 12
1 Introduction 12
2 Robot Selection 13
2.1 Industrial Robots Parameters 13
2.2 Robot Selection Methods 14
2.3 Analytical Hierarchy Process 15
3 Automated Lapping System 16
4 AHP Methodology for Lapping Robot Selection 20
5 Conclusion 23
References 24
2 Mechatronic Design Towards Investigation of the Temporo-Mandibular Joint Behaviour 25
Abstract 25
1 Introduction 26
2 Materials and Methods 27
2.1 Numerical Model 28
2.2 Material Properties 29
2.3 Contact Management 30
2.4 Muscular Action Modelling 30
2.5 Definition of Disc Shape and Positioning by Mean of Experimentally Supported Virtual Prototyping 32
3 Results 34
3.1 Medium Opening-Closing Jaw Motion 34
3.2 Immediate Clenching Simulation 36
4 Discussion 39
5 Conclusions and Prospects 40
References 41
3 Requirements for Tire Models of the Lightweight Wheeled Mobile Robots 43
Abstract 43
1 Introduction 43
2 Scope and Method of Analysis 44
3 Tire Modeling Background 45
4 Analysis of Differences Between Lightweight Wheeled Robots and Automobiles 48
4.1 Tires 48
4.2 Environment 50
4.3 Vehicle Systems 52
4.4 Ways of Control 53
4.5 Maneuvers 54
4.6 Allowable Extreme Vehicle Body Motions 55
5 Requirements for Tire Models of the Lightweight Wheeled Mobile Robots 56
5.1 Wheel Hub Kinematics 57
5.2 Tire-Ground Contact 58
5.3 Ground Surfaces 58
5.4 Tire Structure Design 58
5.5 Tread Design 59
5.6 Required Empirical Data 60
6 Conclusion 60
Acknowledgments 60
References 61
4 Simulations of Accelerations and Velocities of the Robot's Arm 62
Abstract 62
1 Introduction 62
2 Notation 63
3 Exact Method 64
4 First Approximate Method 66
5 Second Approximate Method 67
6 Movement Simulations 67
7 Program 68
8 Velocities 69
9 Accelerations 70
10 Duration of Operations 71
11 Range of Errors 73
12 Conclusion 73
Acknowledgements 73
References 73
5 The Numerical Analysis of Burnishing Process of Hollow Steel Tubes 74
Abstract 74
1 Introduction 74
2 Methodology and Numerical Analysis 75
3 Summary 82
References 83
6 Piecewise Control Method of Oxygen Flow in PEM Fuel Cell 85
Abstract 85
1 Introduction 85
2 PEM Fuel Cell Mathematical Model 86
2.1 Activation Losses 88
2.2 Ohmic Losses 89
2.3 Concentration Losses 89
2.4 Operating Voltage Equation 89
2.5 Fuel Cells Behavior in Different Oxygen Flows 91
3 Control Strategy for Oxygen Flow 93
4 Simulation Tests and Results 94
5 Conclusions 100
References 101
7 Testing the Piezoelectric Energy Harvester's Deflection on the Amount of Generated Energy 102
Abstract 102
1 Introduction 102
2 Sources of Energy Available in Underground Condition 104
2.1 Energy of Mechanical Vibration 105
2.2 Piezoelectric Energy Harvester MIDE V21BL-ND 106
3 Tests Objectives 108
3.1 Test Rig 110
4 Test Results 111
4.1 Comparative Tests of the Signal Generated by PEH1 and PEH2 111
4.2 Determination of Standby Time T1 in the Case of PEH1 and PEH2 115
4.3 CIN Capacitor Discharge T2 Time 116
5 Conclusions and Future Work 117
References 117
8 Analysis of Crash Computation on a Basis of the Principle of Linear Momentum and Kinetic Energy 120
Abstract 120
1 Introduction 120
2 Simulations 121
3 Computational Model 128
4 Results of simulations 132
5 Summary 135
References 136
9 Modeling and Simulation of the Solar Collector Using Different Approaches 137
Abstract 137
1 Introduction 138
2 Solar Flat-Plate Collector Modeling 140
2.1 Distributed-Character Model 140
2.2 CFD Model 144
3 Experimental Work 147
4 Results and Discussion 149
5 Conclusion 155
References 156
10 Uncertainty Analysis of Innovative Method for Wheel Load Measurements 158
Abstract 158
1 Introduction 158
2 Estimation of Tire Model Parameters 160
3 Indirect Measurement of Wheel Spatial Load 161
4 Verification of the Suspension Kinematic Model 164
5 Uncertainty of Load Measurement System 166
5.1 Longitudinal Force 170
5.2 Lateral Force 171
5.3 Normal Force 173
6 Conclusions 175
References 176
11 Designing the 40 kHz Piezoelectric Sandwich Type Ultrasonic Transducer 177
Abstract 177
1 Introduction 177
2 Mathematical Modeling 178
2.1 Analytical Modeling 179
2.2 Numerical Modeling 183
3 Assembling the Transducer 188
4 Measurements 189
5 Conclusions 190
Acknowledgments 190
References 190
12 Development of an Electronic Stethoscope 192
Abstract 192
1 Introduction 192
2 Construction of the Electronic Stethoscope 196
3 Advantages of the Construction 197
4 Professional Electronic Stethoscope 198
5 Acquisition and Analysis Software 199
6 Algorithm Verification 203
7 Results 204
8 Concluding Remarks 206
References 207
13 Determination of Forces and Moments of Force Transmitted by the Wheel of a Mobile Robot During Motion 208
Abstract 208
1 Introduction 208
2 Wheeled Mobile Robot 209
3 Method of Determination of Forces and Moments of Force Transmitted by the Wheel of a Mobile Robot During Motion 211
4 Practical Realization of Measuring System 217
5 Conclusions 219
Acknowledgements 220
References 220
14 Comparative Study of Maintenance Vehicles Using Vibration Analysis 221
Abstract 221
1 Introduction 221
2 Vibration Sources of the Vehicles 222
3 Experimental Method 223
3.1 Description of the of Passenger Cars Whose Vibration Was Measured 223
3.2 The Measurement of the Vibration 225
4 Vibration Measurement Results Obtained for the Two Vehicles 225
4.1 Results Obtained for the First Vehicle 225
4.2 Results Obtained for the Second Vehicle 230
5 Maintenance Operations History of the Two Vehicles 236
6 Comparative Analysis of Results 239
7 Conclusions 240
References 240
15 Correction of the Influence of not Ideal Geometric Profile on the Constant of Primary Cell 241
Abstract 241
1 Introduction 241
2 Measurement System for Reproduction of the EC Unit 242
3 Uncertainty of Conductivity and Budget of Systematic Errors 243
4 Manufacturing Errors 246
4.1 Error in the Longitudinal Section 247
4.2 Error in the Cross Section 249
5 Experimental Results 251
6 Conclusions 252
References 252
16 Modeling and Analysis of the Hydraulic Servo Drive System 254
Abstract 254
1 Introduction 254
2 Dynamic Model of the Hydraulic Servo System 256
3 Designing the Control System---Linearization with Feedback 260
4 Conclusions 262
References 262
17 Stereoscopic Technique for a Motion Parameter Determination of Remotely Operated Vehicles 264
Abstract 264
1 Introduction 264
2 Underwater Imaging 265
3 Motion Parameter Determination 266
4 Stereo Vision System 269
5 Results 276
6 Conclusions 283
References 283
Author Index 285