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1
Content available Computational optimization and implementation of control system for mechatronic treadmill with body weight support system
Gembalczyk G., Duda S., Świtoński E.
Journal of Theoretical and Applied Mechanics
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2018
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Vol. 56 nr 4
1179--1191
EN
The purpose of this paper is to present a novel mechatronic system for gait re-education which consists of a body weight support system (BWS system) and a treadmill. This publication covers mainly issues related to the design and optimization process of a control algorithm dedicated for the unloading system. The proposed control system is based on a fuzzy logic controller coupled with a PID regulator. The optimization of parameters for regulators has been conducted based on numerical simulations in which a hybrid optimization method combining a genetic algorithm with a gradient algorithm has been used. The developed control system has been tested experimentally.
2
Content available Mechatronic device for locomotor training
Duda S., Gąsiorek D., Gembalczyk G., Kciuk S., Mężyk A.
Acta Mechanica et Automatica
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2016
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Vol. 10, no. 4
310--315
EN
This paper presents a novel mechatronic device to support a gait reeducation process. The conceptual works were done by the interdisciplinary design team. This collaboration allowed to perform a device that would connect the current findings in the fields of biomechanics and mechatronics. In the first part of the article shown a construction of the device which is based on the structure of an overhead travelling crane. The rest of the article contains the issues related to machine control system. In the prototype, the control of drive system is conducted by means of two RT-DAC4/PCI real time cards connected with a signal conditioning interface. Authors present the developed control algorithms and optimization process of the controller settings values. The summary contains a comparison of some numerical simulation results and experimental data from the sensors mounted on the device. The measurement data were obtained during the gait of a healthy person.
3
Content available Modern tendencies in the design of autonomous utility vehicles
Mężyk A., Czapla T., Klein W., Krzystała E., Gembalczyk G., Domagała D., Dudek O.
Journal of KONES
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2015
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Vol. 22, No. 1
227--234
EN
The article discusses the role of the modern approach to the design of autonomous utility vehicles. The study has been exemplified by a currently designed multi-purpose hybrid engineer vehicle. The article covers the application of modern hybrid drive and the suspension allowing for the regulation of the tension wheel. The drive system used in the described vehicle is a serial type. In contrast to the conventional solutions used so far in a similar vehicle, this system eliminate heavy and difficult parts to produce (e.g., gears) which allows to significant reduction of a vehicle's weight. The suspension system is based on the classical concept - with a torsional shafts. A movable tension wheel is an innovative element, which has been used in this suspension system. When the wheel is in the lower position the area of pressure increased so the force exerted on the ground is less. This option is useful in difficult, muddy off-road conditions. The Volvo Company wants to apply similar capabilities in their prototype diggers. In the article, the importance of the external appearance of the vehicle has been considered as well. A removable cab allows the remote control of the vehicle at any time and the same has been provided as an example of a modern solution concerning the external appearance of the vehicle.
4
Projekt i walidacja urządzeń pomiarowych - siły w linie i kąta wychylenia liny zawiesia suwnicy
Gembalczyk G., Duda S.
Modelowanie Inżynierskie
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2013
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T. 16, nr 47
75--81
PL
W artykule przedstawiono rozwiązania konstrukcyjne dwóch urządzeń pomiarowych, zaprojektowanych dla układu sterowania zawiesiem suwnicy specjalnego przeznaczenia. Pierwszym z nich jest urządzenie służące do pomiaru kąta wychylenia liny zawiesia suwnicy, natomiast drugie to tensometryczny czujnik do pomiaru siły w linie. Pokazano rezultaty przeprowadzonych analiz stereomechanicznych obu konstrukcji, a także rezultaty testów mających na celu zweryfikowanie poprawności działania urządzeń.
EN
The paper presents design solutions of two measuring devices, designed for mechatronic crane control system. The first device is use for measuring the angle of the rope deviation. The second designed device is a strain gauge load cell, dedicated to measure the force in the rope. To check that the devices are working properly, tested it. In the paper shown the results of this tests. The article contained also results of the optimization of the superstructure.
5
Numerical verification of effort in mechanical construction of prototype manipulator for rehabilitation
Gąsiorek D., Gembalczyk G., Kciuk S., Machoczek T.
Modelling and Optimization of Physical Systems
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2013
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z. 12
21--28
EN
The work presents the results of a stereomechanical analysis of a support system for a prototype manipulator for rehabilitation. The presented study concerns the compensator, crane trolley and the frame. The stereomechanical analysis has been conducted in the Ansys environment using finite elements method. Beam and solid models have been assumed for the support system.
PL
W pracy przedstawiono wyniki analizy stereomechanicznej układu nośnego prototypowego manipulatora rehabilitacyjnego. Przedstawiono badania dla kompensatora, wózka jezdnego oraz ramy. Analizę stereomechaniczną wykonano w środowisku Ansys metodą elementów skończonych. Do analizy przyjęto modele bryłowe i belkowe dla konstrukcji nośnej.
6
Adaption of MATLAB Real-Time Workshop for a mechatronic device for locomotor training
Gembalczyk G.
Modelling and Optimization of Physical Systems
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2013
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z. 12
29--32
EN
In this article, basie information regarding the Real-Time Workshop environment of the MATLAB/Simulink suite has been presented. The construction and configuration of the components of the mechatronic device for locomotor training has been discussed. The transmission method for the controlling and ineasuring signals has been presented. Particular attention has been paid to the signal conditioning system interface. In the article shown a model meant to control the device by means of the MATLAB application along with the tentatively designed interface of the basie functions performed by the crane.
PL
W artykule przedstawione zostały podstawowe informacje dotyczące środowiska Real-Time Workshop pakietu MATLAB/Simulink. Omówiona została budowa i konfiguracja podzespołów urządzenia mechatronicznego do treningu lokomotorycznego. Pokazano sposób transmisji sygnałów sterujących i pomiarowych. Szczególną uwagę zwrócono na interfejs układu kondycjonowania sygnałów. Zaprezentowano również model służący do sterowania urządzeniem za pomocą programu MATLAB wraz ze wstępnie zaprojektowanym interfejsem podstawowych funkcji wykonywanych przez suwnicę.
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