Cvut V Praze, Fakulta Strojni

Czech Technical University in Prague

Cvut V Praze, Fakulta Stronjni

Inomech S.r.o.

Michael Valasek

Zbynek Sika

Roman Smid

Milan Ruzicka

Frantisek Petru

Ondrej Uher

Tereza Kasparkova

Václav Bauma

Petr Svatos

Martin Smrz

Pavel Kukula

Michal Mikulec

A device for a body's spherical motion control connected with a frame by means of a spherical joint arranged on a shank connecting the body with the frame and through actuating arms with drives, where the shank is sectional and the spherical joint is arranged between the first part of the shank which is firmly fixed to the frame and the second part of the shank which is firmly fixed to the body, whereas the number of parallel arms with drives is redundant. In order to increase the accuracy of both the self-calibration itself and a follow-up positioning of the body in the work area and to achieve a large range of the body's rotating, the number of parallel arms with drives is five at minimum and the length of the first part of the shank connected to the frame is longer than the distance of the body edge from the point of connection of the shank to the body.

Device for a body's spherical motion control

A supporting structure for positioning manipulating arms that may be fitted with tools. The manipulating arms are unblocked for their relocation and/or for relocation of tools or parts held by the manipulating arms. Relocation of the manipulating arms into a new position is by means of a robot. Once relocated, the manipulating arms are again blocked. A supporting frame is fitted with at least one sliding guide and/or spherical joint in which each manipulating arm is movably disposed. Blocking and unblocking of the manipulating arms is achieved through the use of pneumatic or electrical power.

Supporting structure for repositionable and reconfigurable manipulating arms

This invention concerns a device for vibration damping of an object () moving along a trajectory arranged on a frame (), whereas the object () involves spaces filled-in with magnetorheologic fluid which moves towards the object () and the device contents at least one control electromagnet () for achieving magnetorheologic fluid condition change to which a signal for vibration damping is fed from a control unit, whereas the control electromagnet/s () is/are arranged firmly on the frame on which the object's () trajectory is positioned. The control electromagnets () are arranged evenly with regard to the object's () trajectory (), in case of need evenly to one another. In case of an object () pivoted on a frame () and fitted with at least one centrifugal pendulum () connected to the object () through a damper () with magnetorheologic fluid which moves towards the object () and the device involves at least one control electromagnet () for achieving magnetorheologic fluid condition change, to which a signal is fed from a control unit, at least one control electromagnet () regulated by controllable power supply for electromagnetic field intensity control is arranged along the circular trajectory () of the dampers () on the frame ().

Device for a moving object's vibration damping

The invention concerns a method of and apparatus for measurement and/or calibration of the position of an object in space in such embodiment where the apparatus contains at least one moving arm fitted to the frame on one end and on the other end fitted to a platform, where the platform can be attached to the object to be measured or calibrated; during the motion of the object with the platform attached the relative positions of individual members of at least one moving arm, frame and platform are read and the measured data is used for determination of the position of the object or for its calibration. Upon attaching the platform of the measurement and/or calibration apparatus to the measured or calibrated object, these joined parts perform an arbitrary motion within object's operating space actuated by the drives of the object, while the quantities corresponding to relative positions of individual members of the apparatus are collected and used for determination or calibration of position of the object in space. The number of measured quantities during the motion of the platform with the measured or calibrated object is higher than the number of degrees of freedom of the apparatus by at least one.

Method and apparatus for measurement and/or calibration of position of an object in space

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Prague, Czechia

Michael Valasek