ANALYSIS OF INCREASING THE FRICTION FORCE OF THE ROBOT JAWS BY ADDING 3D PRINTED FLEXIBLE INSERTS

3D printing technology plays a key role in the production of prototypes and final functional parts. The ability to produce almost any shape using this technology in combination with lightweight materials is often used to minimise the weight of the designed components. However, for some applications, such as robot gripper jaws, conventional most commonly used materials, such as PLA, may be unsuitable due to their low coefficient of friction on the material of the manipulated object, which in some cases may cause the object to slip in the robot jaws. This article describes a technical problem from practice, where a manipulated object made of steel material slipped in the printed PLA jaws of the robot during its working cycle. This work is devoted to increasing the friction force of the robot jaws by adding 3D printed soft inserts. Two insert surface shapes made of two flexible materials TPU 30D and TPE 88 are tested. The increase in friction force is measured on a measuring device with an industrial robot and a force measuring sensor. The most suitable type of inserts and material is then tested on a collaborative robot at its required working cycle. The results of this experiment are intended to help designers as a source of information or inspiration in designing similar applications.

MEASURING SYSTEM BASED ON THE SBRIO-9636 CONTROLLER AND THE MEMS ADXL1005 BROADBAND ACCELEROMETER

This article describes a measurement system based on a programmable single-Board controller sbRIO-9636, which is designed to control vibration acceleration measurements. A low-noise broadband accelerometer MEMS ADXL1005 is used as a measuring sensor. This paper provides information about the limitations of the considered measuring system related to the technical characteristics of the controller and sensor. A listing of the programme developed in the LabVIEW environment is also provided. The frequency and amplitude ranges that the system can measure are indicated. The given values are justified. The measurement system was validated, and the results are summarised in a table. Based on the results of the work, conclusions are made, which state that the considered measuring system should be used in research works related to experimental modal analysis.

Perancangan Sensor LVDT dan Potensiometer Geser Sederhana Sebagai Alat Potensial Pendeteksi Pergeseran Tanah

A preliminary study on the design of a Linear Variable Differential Transformer (LVDT) sensor and a sliding potentiometer has been carried out. It is a distance measuring sensor that can be used as a ground shift sensor. This study aims to develop a new type of low cost mechanical sensor which has a high enough accuracy. The LVDT sensor is built using affordable materials such as PVC pipes, winding wires and iron cores, which is varied based on the number of primary coil and its diameter. While the potentiometer sensor is prepared by using linear bearing using electrode sheets of nickel and copper which is arranged by implemented the concept of the Newton-Wheatstone Bridge. The measurement value shows that the LVDT sensor with the number of primary coil of 110 and a diameter of 4 mm can measure with an accuracy of 0.5 mm and a range of more than 4 cm. While the sliding potentiometer using a sheet of copper electrodes can measure 0.5 mm with a range of more than 4 cm. The average error shown by the LVDT sensor and the sliding potentiometer is 5.2% and 6.4%, respectively.

Application of fuzzy-logic to design fuzzy compensation controller for speed control system to reduce vibration of CBШ-250T drilling machine in mining industry

The paper introduces fuzzy compensation control algorithm based on fuzzy logic to control the rotation speed in CБШ-250T drilling machine. The proposed solution uses an artificial neural network instead of a vibration measuring sensor to identify the amplitude and vibration frequency on a rotary drill. The vibration amplitude, vibration frequency and setpoint of the drilling speed are the input variables for the fuzzy logic unit. The fuzzy tool will diagnose the compensatory parameter δα with the target to reduce the vibration of the drilling equipment. The results were tested through modeling using Simulink_matlab tool. It can be applied to control system to improve control quality, and reduce vibration for CБШ-250T drilling machine, which is being operated on mines in Quang Ninh area.

INTERNET OF THINGS: AUTOMATIC PLANT WATERING SYSTEM USING ANDROID

Internet of Things (IoT) is a system that connects devices directly or indirectly to the internet. The device can work with remote control. One application of the IoT system on the watering system is able to provide an approach to the ease in the process of growth and development of plants. The research carried out was applied to an IoT-based smart plant watering device. The tool is supported with a soil moisture measuring sensor that acts as a benchmark to determine the condition of soil moisture and automatic control of the process of watering plants. The process of watering plants is scheduled in the morning and evening. Information, as long as the device is run will be displayed on the LCD and screen of an Android-based smartphone application. The data can be a comparison value to determine the suitability of soil moisture data in plants. The volume of water supplied in the watering process also affects the level of soil moisture. IoT-based smart plant sprinklers can automate watering by measuring the percentage of soil moisture as a benchmark for providing water during the watering process. Remote watering control can also be done on this tool by using a WiFi signal to the same access point that is connected to the smartphone client and microcontroller. Keyword: agriculture, automatic sprinklers, engineering, IoT