Search results

1 – 4 of 4
Per page
102050
Citations:
Loading...
Access Restricted. View access options
Article
Publication date: 1 February 2003

Cezary Zieliński, Krzysztof Mianowski, Kazimierz Nazarczuk and Wojciech Szynkiewicz

The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high stiffness and has a large work envelope. These features make this robot suitable…

996

Abstract

The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high stiffness and has a large work envelope. These features make this robot suitable for relatively high precision machining operations on large workpieces. The conroller for this robot was based on MRROC++, which is a robot programming framework. Thus the controller could be tailored to the tasks at hand, including the capability of in‐program switching of kinematic model parameters. To obtain those parameters for different locations in the work‐space a calibration procedure using linear measurement guides has been devised.

Details

Industrial Robot: An International Journal, vol. 30 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 14 June 2013

Cezary Zieliński, Włodzimierz Kasprzak, Tomasz Kornuta, Wojciech Szynkiewicz, Piotr Trojanek, Michał Walęcki, Tomasz Winiarski and Teresa Zielińska

Machining fixtures must fit exactly the work piece to support it appropriately. Even slight change in the design of the work piece renders the costly fixture useless. Substitution…

592

Abstract

Purpose

Machining fixtures must fit exactly the work piece to support it appropriately. Even slight change in the design of the work piece renders the costly fixture useless. Substitution of traditional fixtures by a programmable multi‐robot system supporting the work pieces requires a specific control system and a specific programming method enabling its quick reconfiguration. The purpose of this paper is to develop a novel approach to task planning (programming) of the reconfigurable fixture system.

Design/methodology/approach

The multi‐robot control system has been designed following a formal approach based on the definition of the system structure in terms of agents and transition function definition of their behaviour. Thus, a modular system resulted, enabling software parameterisation. This facilitated the introduction of changes brought about by testing different variants of the mechanical structure of the system. A novel approach to task planning (programming) of the reconfigurable fixture system has been developed. Its solution is based on constraint satisfaction problem approach. The planner takes into account physical, geometrical, and time‐related constraints.

Findings

Reconfigurable fixture programming is performed by supplying CAD definition of the work piece. Out of this data the positions of the robots and the locations of the supporting heads are automatically generated. This proved to be an effective programming method. The control system on the basis of the thus obtained plan effectively controls the behaviours of the supporting robots in both drilling and milling operations.

Originality/value

The shop‐floor experiments with the system showed that the work piece is held stiffly enough for both milling and drilling operations performed by the CNC machine. If the number of diverse work piece shapes is large, the reconfigurable fixture is a cost‐effective alternative to the necessary multitude of traditional fixtures. Moreover, the proposed design approach enables the control system to handle a variable number of controlled robots and accommodates possible changes to the hardware of the work piece supporting robots.

Details

Industrial Robot: An International Journal, vol. 40 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Access Restricted. View access options
Article
Publication date: 28 November 2024

Albert Zajdel, Cezary Szczepański, Maciej Filipowicz, Mariusz Krawczyk and Michal Welcer

The paper presents the results of the final phase of the project, namely flight tests, aimed at developing a stabilisation system utilizing trim tabs for the PZL-130 Orlik…

16

Abstract

Purpose

The paper presents the results of the final phase of the project, namely flight tests, aimed at developing a stabilisation system utilizing trim tabs for the PZL-130 Orlik turboprop military trainer aircraft.

Design/methodology/approach

The proposed flight stabilisation system was developed using modern techniques of model-based design, automatic code generation and software and hardware-in-the-loop testing. The project progressed to the flight testing stage, enabling the assessment of the control system’s quality and its final calibration.

Findings

Analysis of the results obtained during flight tests confirmed the high quality of the stabilisation system. Specifically, the anticipated accuracy of both longitudinal and lateral channel stabilisation was achieved.

Originality/value

The proposed flight stabilisation system, utilizing trim tabs, offers several advantages over classic automatic flight systems in terms of weight, energy consumption, structural simplicity and obviates the need for primary control modifications on the aircraft. It was developed using modern techniques of model-based design, automatic code generation and hardware-in-the-loop simulations.

Details

Aircraft Engineering and Aerospace Technology, vol. 97 no. 1
Type: Research Article
ISSN: 1748-8842

Keywords

Access Restricted. View access options
Article
Publication date: 16 January 2024

Albert Zajdel, Michal Welcer and Cezary Jerzy Szczepanski

This paper aims to present assessment of models and simulation results used in the development process of flight stabilisation system that uses trim tabs for PZL-130 Orlik…

62

Abstract

Purpose

This paper aims to present assessment of models and simulation results used in the development process of flight stabilisation system that uses trim tabs for PZL-130 Orlik turboprop military trainer aircraft. Flight test of the system allowed to compare software and hardware simulation results with real flight recordings.

Design/methodology/approach

Proposed flight stabilisation system was developed using modern techniques of model-based design, automatic code generation, software and hardware in the loop testing. The project reached flight testing stage which allowed to gather data to verify models and simulation results and asses their quality.

Findings

Results of the comparison showed that the trim tab actuator model used in simulation can be improved by adding play. This reduced the difference between simulation and real flight system output – actuator angle. The influence of airloads on the flying actuator angle compared to hardware in the loop simulation in lab is less than ± 0.6°.

Originality/value

Proposed flight stabilisation system that uses trim tabs has several benefits over classic automatic flight system in terms of weight, energy consumption and structure simplicity and does not need aircraft primary control modification. It was developed using modern techniques of model-based design, automatic code generation and hardware in the loop simulations.

Details

Aircraft Engineering and Aerospace Technology, vol. 96 no. 1
Type: Research Article
ISSN: 1748-8842

Keywords

1 – 4 of 4
Per page
102050