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František Trebuňa, Juraj Smrček and Zdenko Bobovský

The Influence of Shape for Self-Reconfigured Modular Robotic System Characteristics

The theory of mechanisms with a variable structure into the application form of the metamorphous self-reconfigurable structure of robots has been recently developed as a possible direction of an innovative approach to robotic technology. In our faculty, we decide to create module for such robotic system. The result is a unique MMR metamorphous robotic system on the basis of an autonomous MG module which is able to act as a homogenous module, however, at the same time it consists of heterogeneous sub-modules which enable the module to cooperate with other modules and thus create and be transformed into various kinematics structures of robotic system, as may be necessary. Furthermore, the module is able to work as a separate module and to transform its kinematics structure as requested.

Open access

František Trebuňa, Juraj Smrček and Zdenko Bobovský

Kinematics of Self-Reconfigurable Robotic System

Theory of mechanisms with variable structure in robotic applications self-reconfigurable structures is one of the directions of development of robotics. On our faculty is developed self-reconfigurable modular robotic system capable of rebuilding a structure according to the requirements of the current task. To perform kinematic changes of its structure we needs to have information on where to find the modules and their submodules. Therefore it is necessary to know the mathematical relationship between the positions of its individual parts. Spatial kinematic chains is investigated based on the theory of simultaneous movements, where the position of each member is specified in the global coordinate system using local coordinate systems associated with individual members. To identify the position of the individual local coordinate systems were used transformation matrix, the accuracy of which is verified in mathematical programs and results from these programs are then compared with results of movement analysis notified by simulation procedures.

Open access

František Trebuňa, František Šimčák, Jozef Bocko and Juraj Gašinec

Methods for Verification of Safety of the Sluice Gates in Water Power Plants

The aim of a paper is to show theoretical and experimental methods that are used in the process of evaluation of safe operation of sluice gates in water power plants. On several examples are represented various treatments that allow to provide identification of locations of possible failures on carrying elements of sluice gates.

Open access

František Trebuňa, Ján Jadlovský, Peter Frankovský, Zuzana Bakšiová and Anna Kostelníková

Further Possibilities of Using Software PhotoStress for Separation of Principal Normal Stresses

Software PhotoStress, elaborated in our laboratories allows determination of directions and magnitudes of strains or principal normal stresses in loaded photoelastically coated structural elements. It allows accelerating process of measurement and evaluation of deformations or stresses in point, along line or along curve, respectively. In those entities can be determined directions, and magnitudes of differences and separated principal deformations or stresses on the basis of photography of loaded photoelastically coated objects. In the paper is given procedure for of evaluation of separated principal normal stresses by using of separation methods: method of difference of shear stresses with using separation strain gage and method of oblique incidence.

Open access

Trebuňa František, Bocko Jozef, Pástor Miroslav, Lengvarský Pavol and Prada Erik

Abstract

The paper deals with design and computation of precise positioning mechanism. The aim of mechanism is to transfer applied load without any change of position of parts in question. The stabilization of position is assured by elastic elements connected to reductor which is adjusted into correct position by an actuator. The functionality of mechanism and its stiffness and strength characteristics were checked by the finite element method. The computations were accomplished for prescribed displacement of reductor. On the base of this type of loading the behaviour of the structure was evaluated.