Virtual Prototyping of a Parallel Robot actuated by Servo-Pneumatic Drives using ADAMS / Controls
Advanced pneumatic drives for servo-pneumatic positioning allow for new generations of handlings and robots. Especially parallel robots actuated by servo-pneumatic drives allow the realization of very fast pick and place tasks in 3-D space. The design of those machines requires a virtual prototyping method called the mechatronic design [ 1]. The most suitable software tools are ADAMS for mechanics and Matlab/Simulink for drives and controllers. To analyze the overall behavior the co-simulation using ADAMS/Controls is applied. The combination of these powerful simulation tools guarantees a fast and effective design of new machines.
TRIPLANAR-a new process-machine type developed by means of the mechatronics design
TRIPLANAR is the name for a new machine type with six degrees of freedom. It serves for highly precise processing and measurement tasks. The design principle with new parallel kinematics was proposed by Mechatronics Laboratory Paderborn. An optimal design (both hardware and software) of the system can only be achieved by applying the so-called mechatronics design method. The core of this method is the consideration of the overall system including the interactions of all components involved. Special attention is paid to the actuators of the machine. These consist of three planar hybrid steppers each serving for two directions. The drives applied, however, are converted into servo drives which allow the actuator to induce a force into the mechanical system. The modelling of the drives is explained in greater detail.
Thorium in monazite sand; separation and determination by precipitation from homogeneous solution
A new method is described which consists of three steps: (1) decomposition of the monazite sand with perchloric acid; (2) separation of thorium and the rare earths by hydrolysis of methyl-oxalate in acid solution; and (3) separation of thorium from the rare earths by hydrolysis of urea in the presence of formic acid. The authors consider the method to be accurate and rapid.