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Three faces of balancing: the development of automatic balancing devices for shafts in motion

Krygier Michał, Żak Paweł, Podsędkowski Leszek, Wróblewski Piotr, Podsędkowski Maciej

Archive of Mechanical Engineering

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2023

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LXX, nr 3

351--366

EN

In this paper, the authors present a novel construction of an automatic balancing device applicable to balancing shafts working in a heavily polluted environment. The novelty of the presented system lies in the fact that its utilization requires no changes to be made in the already existing shafts. Also, the system is capable of working during the operation of the balanced shaft, so there is no need to stop it. The propulsion system is based on eddy current braking, therefore no wires need to be used in the device. During the development process of the system, three iterations of the device were created. Each iteration is presented, described, and discussed. The advantages and drawbacks of each version are pointed out and explained thoroughly. The correctness of the design was verified by the created devices that were assembled and fixed on shafts to prove the design assumptions.

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Innowacyjny system autonomicznego wyważania wałów

Żak Paweł, Krygier Michał, Podsędkowski Leszek, Wróblewski Piotr, Podsędkowski Maciej

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2022

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z. 197, t. 2

275-284

PL

W niniejszym artykule opisana jest konstrukcja innowacyjnego urządzenia do automatycznego wyważania wałów. Zaprezentowaną konstrukcję echują: niewielkie rozmiary, łatwość montażu oraz zwarta i szczelna konstrukcja, co sprawia, że może zostać z powodzeniem zastosowana w środowisku o znacznym zapyleniu, czyli np. w elektrowniach, cementowaniach. W pracy przybliżono aktualny stan wiedzy, listę intonujących obecnie stosowanych urządzeń wraz z ich cechami, opis nowatorskiego podejścia, dyskusję oraz podsumowanie.

EN

In this paper we discuss the construction and work principle of a system to be used in terms of an automatic balancing process of shafts being in motion. The presented solution could be successfully used in power plants, etc, as its being defined by the possibility to work in highly polluted environment. The paper includes state of the art presentation, a short outline of existing systems along with their drawbacks, the description of a novel device, short discussion and a summary.

3

Estimation of orientation and position of the manipulator using the extended kalman filter based on measurements from the accelerometers

Kobierska Agnieszka, Rakowski Piotr, Podsędkowski Leszek

Journal of Automation Mobile Robotics and Intelligent Systems

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2019

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Vol. 13, No. 2

23--27

EN

Authors present the kinematic structure of measurement arm along with its construction for efficient estimation of orientation and position of the manipulator using extended Kalman filter. The major innovation of the arm is that it only uses accelerometers as gravity sensors for determining relative positions of the links. This article presents the problem of position estimation based on measurements with high noise and the use of the extended Kalman filter to limit the impact of noise on the measurement. Repeatability tests were performed using custom made test stand.

4

Long-range snake-like robot powered by pneumatic McKibben muscles

Frącczak Łukasz, Olejniczak Michał, Podsędkowski Leszek

Archive of Mechanical Engineering

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2019

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Vol. LXVI, nr 2

257--267

EN

Contemporary research on mobile robotics aims at designing robots that will be able to traverse an extremely varied environment. One of the most universal modes of locomotion is the serpentine movement. A majority of modern snake-like robots use electric drives. This study presents a snake-like robot made out of McKibben muscles. Using a pneumatic cable with muscles arranged in series, it is possible to create a robot of any length, limited only by the length of the muscle cables. Because the control system and the body of the robot are separate, the robot can be used for rescue missions involving high risk of explosion of flammable substances and for missions taking place on extremely difficult terrain.