MECHATRONICS AND ROBOTICS LABORATORY

The Mechatronics and Robotics Laboratory (L7 building B5) operates within the Mechatronics and Theory of Mechanisms Team, where research and development work is carried out on broadly understood mechatronic and robotic systems. In particular, research is carried out on the construction of parallel manipulators (flat and spatial), mobile and assembly manipulators, and automation and control elements used to support specific technological processes. The laboratory also carries out work related to Cartesian manipulators, the possibility of measuring distances. The Team's employees are involved, among other things, in the modernization of devices for the rehabilitation of disabled people (wheelchairs, mechanisms supporting loading a wheelchair into a car, elevators).

The laboratory has three parallel manipulator stations: two spatial translational ones with rotary drives and linear drives. Manipulators are equipped with servo drives (Mannesman MKD025) and wave gears (HFUC 25 - 100), digital controllers (Mannesman DKC011), Sercos control systems and dSpace controllers.

Modern manufacturing technology is characterized by a high level of automation in the production of many components. These elements are produced in large quantities. It is natural to eliminate defective and damaged elements from further production. Human inspection of such elements is a long, tedious process and burdened with a certain error. A natural solution to automate this procedure is the use of vision systems that will analyze individual elements, check their correctness, reject deficiencies if necessary and generate a report. The laboratory has an assembly manipulator, a conveyor belt and an image acquisition system, which includes Basler cameras, National Instrument controllers and Lab.View software with a Vision module. The software allows you to create your own analysis algorithms. The algorithms for testing the correctness of elements are based on vision measurement of specific parameters for the analyzed elements. Vision systems can measure distances, diameters, angles, shapes, etc., recognize colors, calculate the areas of specified areas, count elements, recognize text, read barcodes, etc. Typical applications include verification of elements in automatic assembly lines, checking electronic components, inspection of pharmaceutical packaging, etc.

The Team is equipped with a specially designed and manufactured universal wheeled walking robot "LegVan", which is used for research on the use of machines for work in hazardous areas (e.g. neutralizing suspicious objects). The robot has a specially designed suspension system, control system and sensory, enabling autonomous implementation of the leveling and walking functions. The robot's operations are performed while maintaining stability, which is ensured by continuous measurement of the degree of wheel pressure on the ground. Unique, special control software was created for the needs of the project.

Manufacturing multifunctional products with a complex internal structure but with uniform task properties, operating intelligently in a changing environment, must be characterized by flexibility and maximum limitation of system maintenance. Mechatronic systems meet such needs. Control in such systems can be implemented, among others, using microprocessors or, if a greater degree of complexity of the control system is required, using PLC controllers. The laboratory is equipped with such a station, where written control algorithms can be verified.

Work is underway in the laboratory related to the modernization of rehabilitation devices. The Team has developed mechanisms that, when added to typical wheelchairs, allow overcoming unevenness in urban areas in the form of curbs or small steps.

The laboratory conducts didactic classes for the MBM, AIR and ZiP fields. The laboratory conducts diploma and doctoral theses and carries out research work. The laboratory is equipped with research stations designed and manufactured on behalf of the plant.