International Scientific Journals
of Scientific Technical Union of Mechanical Engineering "Industry 4.0"

The work presents a study of an upper limb exoskeleton designed for rehabilitation and training. While in the first stages of rehabilitation, when the patient is unable to move alone, the exoskeleton must be rigid, in the next stages it should be able to respond to any movement made by the patient. The key feature here is transparency: the robot must be able to “hide” if the patient is able to make the movement without assistance. The aim of the work is to identify and evaluate an appropriate solution of the upper limb exoskeleton that provides transparency and natural safety on the one hand, and force impact and performance on the other. In the paper, the mechanical model of the exoskeleton was shown. The mechanical structure is similar to the structure of the human arm. Through the kinematic model, the direct and inverse tasks of kinematics are solved using the Octave matrix software. The upper limb exoskeleton is designed as a haptic device that can perform tasks in virtual reality. Simulations of the interaction force between the patient and the exoskeleton were conducted also using the Octave software. Here, an assessment of the interaction force was made as a result of the exoskeleton passive impedance and the active control of the exoskeleton. Finally, conclusions and development recommendations are given.

This paper deals with dynamic analysis of bridge crane with one main girder during telpher motion in order to determine dynamic behavior and oscillations while carrying full load. During the telpher motion the main girders and side girders are heavy loaded parts while they undergo forces, moments and oscillations from lifting mechanism that carries workload. The method of analysis is the comparison of results gained through modeling and simulation and experimental measurements. The analysis will be concentrated in finding the nature of dynamic forces, moments and stresses that acts on main crane’s parts and finding the extent and form of oscillations that can cause damage and failures. Also the interest is to study the effects of load swinging in crane’s stability. Results will be shown in the form of diagrams as the solution results of the tested system. Crane is modeled from standard manufacturer, as a special type of Bridge Crane with one main girder and telpher. Conclusions of these analyses are useful for design considerations, dynamic behavior and safety.

This paper deals with dynamic analysis of particular type Construction Cranes known as tower crane during rotational motion of its jib. Methodology of analysis consists of Schematic Design of model, which implements schemes with block diagrams to analyze cranes and their parts during particular work cycle. This procedure consists of crane model development of interconnected elements that represents crane parts, 3-D visualization and simulation of motion. Analysis will be carried out through simulations, and solution of Euler differential equations of second order gained from schematic model. Dynamic parameters investigated are: acceleration, angular velocity, forces and torques in main parts of crane, and influence of load swinging. Diagrams will be presented for main parts of crane as the solution results of the analyzed system. Results gained will be used to get conclusions about dynamic behavior of crane, present graphs of main parameters and search for regulation of optimal jib rotation. Analysis will be done using modeling and simulations with computer application MapleSim. Also, results gained from simulations will be compared with those from experimental measurements.

This paper deals with dynamic analysis of bridge crane with single girder in order to determine material deformations in their main parts – cables and girder’s, while moving and carrying load. It is known that these are mostly loaded parts in crane, while they accept forces, moments and oscillations from lifting mechanism and load. Analysis will be accomplished using computer modeling and simulations. Work process of crane in the study is forward travel motion. It is assumed that this motion process makes major impact in the deformations of lifting cables and girders due to stress, oscillations, and negative effect of load swinging. The analysis will be concentrated in finding the nature of oscillations that acts on crane and finding the extent and form of materials stress and deformations that can cause fatigue, failures and accidents. Question is whether acting loads exceed elasticity limits, or there are plasticity deformations which lead to permanent damages. Results will be shown in the form of diagrams, contour stress and strain in cables and girders. They will be compared with experimental measurements. Conclusions of these analyses can be useful for design considerations and safety.

This paper deals with Dynamic analysis of Gantry Crane using Method of Schematic Design which implements schemes with block diagrams to analyze machines and their parts during work process. This procedure is new to analysis of Gantry crane dynamics and consists of crane model development of interconnected elements that represents crane parts, 3-D visualization and motion of crane. Dynamic analysis will be carried through simulations and solution of Euler differential equations of second order gained from schematic design. Simulations will be planned and applied for regulation of travel motion with hanging load. Diagrams with results of main dynamic and kinematic parameters will be presented for main parts of crane as the solution results of the analyzed system. Results gained will be used to get conclusions about dynamic behavior, optimal motion regulation and safety during work. Analysis will be done using modeling and simulations with computer application MapleSim.

Truck Mounted Cranes are used for load lifting and lowering, mainly in construction industry for materials handling. These cranes have complex structure with many parts and mechanisms with bars, linkages, actuators, cables, outriggers, etc. Using modeling and simulations with software we will analyze dynamics and oscillations in crane while lifting the maximal load, and methods of control of these oscillations in order to optimize the work process of truck crane. Dynamic parameters analyzed are: velocity, acceleration, angular velocity, forces and torques that act in main parts of crane, including load swinging. The study will be accomplished with design of block diagrams that represents crane model and motion, and gain results in form of diagrams containing main kinematic and dynamic parameters. Results of the tested system will be used to get conclusions about dynamic behavior of crane, and look for optimal motion control. Analysis will be done using modeling and simulations with software MapleSim, based on truck crane from standard manufacturer.

Luffing Boom Cranes are type of cranes used for load carrying in building sites. They have complex structure with big dimensions and mechanisms. Their working usage is high. Main cycles of the work of Luffing Boom cranes are: lifting and lowering the working load, Boom luffing – upwards and downwards, rotation around vertical axes, and (if mobile type) translational movement forward and backwards. In this work, we are going to study the work of this crane while rotating with full loading. Study will be done using simulations with computer applications. The aim is to see the effects of dynamic forces and moments in the crane’s main parts – metal construction, cables, and constraints during rotational work cycle, particularly at the start and end of the rotation. Also interest is to study the effects of load swinging in crane’s stability. For this purpose, we modeled with software entire luffing boom crane. Crane is modeled from standard manufacturer, as a common model of luffing boom Crane.

Portal Cranes are used for load carrying in industrial and transportation sites. They have complex structure with big dimensions and many mechanisms with high security requests. In this work, we will study the influence of load swinging in dynamic behavior of Single girder L- type portal crane, in case of forward motion- travelling with full loading using computer modelling and simulations. Studying the behavior of portal cranes proves to be difficult using physical experimentation and measurement devices. Creating the crane’s computer model and applying simulations is useful method to study dynamic occurrences, which helps explaining the reasons of oscillations, failures and accidents of cranes, and gives conclusions that can be useful for design considerations and safety. The analysis will be concentrated in finding the nature of forces, moments and stresses that acts on crane’s construction and effects the stability, particularly at the start and end of travelling motion. Also, the study will look to find main parameters that contributes on the negative effects of load swinging. For this purpose, we designed “virtual portal crane” using model design and simulation applications. Crane is modeled from standard manufacturer, as a common model of L type portal cranes.

Parameters of the vehicle undercarriage affect the vehicle movement and its behaviour on the road or on the terrain. Basic geometry of the vehicle undercarriage can be expressed by mathematical methods, yet undercarriage analysis of the moving vehicle on the terrain is very complex procedure. We have to take into account wheels vertical movement and deflection (which influences the suspension system). Utilization of the simulating technologies can be very beneficial for solution of this issue. The paper is focus on mathematic model of the vehicle undercarriage and its application for analysis of the vehicle undercarriage.

Creation of different types of simulations of moving mechanisms with involved elements as gears is widespread. Depending on the specific needs different techniques which enable the accomplishment of the assignment are applied. Of particular importance is the selection of suitable software system that contains the necessary tools, functional qualities, set of features for automating the drive mechanisms, simulations and animations. Furthermore, it is important to determine the accessibility to such resource. Under these conditions a very good solution is the system with open source Blender.