Papers by Damian Grajewski
Interactive Learning Environments, May 22, 2020
The article presents the concept and first results of tests of a Virtual Reality system dedicated... more The article presents the concept and first results of tests of a Virtual Reality system dedicated for interactive education of manual assembly procedure. The presented solution is based on the use ...
Manufacturing Technology, Dec 1, 2013
Projecting and designing of automated assembly cells/lines is very complicated process. The risin... more Projecting and designing of automated assembly cells/lines is very complicated process. The rising demand on an assembly high quality, precision, effectiveness and shorter time to market. Puts the high requirements on the all active devices which act at the automated workplace. Assembly robot with its effector influences the effectiveness of the proposed assembly automation very significantly. Design or choice of the assembly robot and its robotic gripper namely is very important step of the automated assembly cells/lines projecting. Secure and stable holding of an assembly object by robotic gripper is one of significant conditions for trouble-less execution of the object automatic implementation into assembly joint. This article presents our experiences with utilization of advanced simulation methods for the specialized robotic gripper grasping ability exploration for purposes to evaluate a safe and stable grasping of different objects. Virtual reality tools-eon reality and haptic device with glove and finger actuators (CyberForce) were applied for simulation experiments realization too.
Lecture Notes in Mechanical Engineering, 2019
The article presents the use of VR tools for creating virtual simulations in which construction a... more The article presents the use of VR tools for creating virtual simulations in which construction and functionality of production machines can be observed. As examples, the CNC machine feed drive and the Delta robot were presented. A virtual CNC machine was used to visualize its operation in the EON Studio environment. This visualization enabled a general analysis of the machine’s operation and construction, visualization with various tools mounted in the spindle, as well as execution of the tool movement according to the loaded simple G-code. In turn, virtual model of Delta robot, in addition to the visualization of the action, was used to simulate the shape of virtual objects.
Advances in Intelligent Systems and Computing, 2018
This article presents the research on the efficiency of performance of automatic design of varian... more This article presents the research on the efficiency of performance of automatic design of variant products system, including the process of product variant configuration, preparation of the 3D model in CAD system and the preparation of the assembly instructions for the manufacturing positions. The variants of the described product take the form of various combinations of individual assembly parts combined together and constitute an example of customized products, and the process of their manufacture (assembly) is the subject of the research carried out in the SmartFactory Laboratory at the Poznan University of Technology.
Transactions of Famena, 2016
This paper deals with the virtual modelling and simulation of a complex CNC machine tool feed dri... more This paper deals with the virtual modelling and simulation of a complex CNC machine tool feed drive system. The first phase of the study was the modelling of a very complex structure of the feed drive which consists of many elements (position, velocity and current control regulators, actuators, mechanical transmission elements, etc.). All these elements have great influence on important parameters of the machine tool such as movement stability, positioning accuracy and dynamic stiffness. For the modelling of the system the Matlab-SIMULINK and Matlab-Sim Scape Toolbox software was used. The Matlab-Sim Scape Toolbox allowed us to use the complete CAD model of the geometry of the machine tool, automatically calculating the selected properties. The influence of changing and optimizing several feed drive parameters (position loop gain Kv, proportional gain Kp of the velocity controller, integral gain of velocity controller-Tn, electrical drive time constant Te, total moving mass m, sampl...
IEEE Access, 2021
The concept of eco-design is an area of interest of many manufacturers. Its implementation provid... more The concept of eco-design is an area of interest of many manufacturers. Its implementation provides a framework that allows companies to adapt to the requirements of sustainable development related to the design and manufacturing of environmentally-friendly products. Implementation of eco-design in the industry requires dedicated information technologies. Many types of software tools are offered which support eco-design, and the choice of the one which suits the user best is not easy. The paper describes an analysis of three selected IT tools dedicated to the environmental assessment of products, integrated with the 3D CAD environment. The analysis has been carried out on the basis of specially developed reference models of sets (assemblies) imitating small household appliances. The models have been designed to support the creation of various configurations of connections between elements (parts of the assembly). The study experiments consist in changing the configurations and observing how the changes affect the environmental parameters of the modelled structure. The results have been used to describe the scope of support offered by each of the tools under analysis and their suitability for the environmental assessment of products. INDEX TERMS Eco-design, recycling, product design, 3D CAD systems.
Manufacturing Technology, 2013
Projecting and designing of automated assembly cells/lines is very complicated process. The risin... more Projecting and designing of automated assembly cells/lines is very complicated process. The rising demand on an assembly high quality, precision, effectiveness and shorter time to market. Puts the high requirements on the all active devices which act at the automated workplace. Assembly robot with its effector influences the effectiveness of the proposed assembly automation very significantly. Design or choice of the assembly robot and its robotic gripper namely is very important step of the automated assembly cells/lines projecting. Secure and stable holding of an assembly object by robotic gripper is one of significant conditions for trouble-less execution of the object automatic implementation into assembly joint. This article presents our experiences with utilization of advanced simulation methods for the specialized robotic gripper grasping ability exploration for purposes to evaluate a safe and stable grasping of different objects. Virtual reality tools-eon reality and haptic device with glove and finger actuators (CyberForce) were applied for simulation experiments realization too.
Interactive Learning Environments, 2020
The article presents the concept and first results of tests of a Virtual Reality system dedicated... more The article presents the concept and first results of tests of a Virtual Reality system dedicated for interactive education of manual assembly procedure. The presented solution is based on the use ...
Procedia Computer Science, 2015
The paper presents a number of different approaches for creation of realistic immersive education... more The paper presents a number of different approaches for creation of realistic immersive educational simulations of conditions of a workplace for assembly operations with aid of haptic and Virtual Reality systems. Such simulations can be used for effective training of future operators of a given workplace and testing its ergonomic quality without need of building a physical prototype. The authors have devised several different approaches to preparation of virtual workplace prototypes for training. The basic approach is utilization of immersive VR systems (Head-Mounted Devices combined with user tracking solutions) to create an interactive simulation of a workplace, on the basis of its CAD model and specification of a realized process. The second approach is using a haptic manipulator with force feedback for interaction with a virtual workplace, for more realistic feeling of a realized activity. The third, novel approach is combination of the two previous approaches. A special system was designed and built for this purpose. It uses a large-space robot to allow haptic feedback for a user equipped with an immersive set of devices. More and more often virtual prototypes of the workplaces replace the physical ones as an innovative training solutions that allow to train the future operators or improve ergonomic quality of the workplace. The reason for that is the reduction of costs needed to develop the real prototype of the workstation as well as ability of complex virtual workplaces to change the variants in order to investigate different situations. Usually such workplaces-created as interactive Virtual Reality applications-consist of a visualization operated with aid of advanced Virtual Reality systems and devices. Implementation of an immersive equipment increases sense of user's presence and use of haptic devices with force feedback makes the experience more similar to reality. The level of realism is a very important factor in an immersive and haptic simulations of workstations for training purposes. As a form of instructional simulation, also called educational simulation, immersive and haptic simulations are a powerful learning tools that require trained users to complete tasks or to solve specific problems within VR environment that replicates the real workplace conditions 19. Trainings conducted is this way are particularly beneficial when real activities and task conducted at the workplace is too dangerous, too costly or even almost impossible to do.
The modern design process forces the tight integration of processes connected with the developmen... more The modern design process forces the tight integration of processes connected with the development of the product. All the steps of the design process are based on geometrical models created in CAD systems. The geometry of the product is used for programming of the virtual environment of the product, its behaviour, manufacturing and so on. It is necessary to remember that the integrated design process needs special skills and knowledge from engineers. The authors of this paper presented a brief description of the VIDA Centre at Poznań University of Technology, its structure and skills in the area of integrated design. Couples of examples of projects realized at VIDA Centre's environment as integrated design of products are described as well. 1 INTRODUCTION Nowadays, product design is understood more as a product development during the whole life cycle (Fig. 1). The design should take into consideration all the stages of the product life cycle: its manufacturing, exploitation, re...
Procedia Computer Science, 2013
This paper presents possibilities of application of the immersive VR and the haptic technologies ... more This paper presents possibilities of application of the immersive VR and the haptic technologies during the complex process of design and virtual prototyping of the manufacturing workplaces characterized with a high level of ergonomic quality. Two case studies are presented: a workplace for stud welding and a set of two workplaces, for hole drilling and manual assembly. In the first case study, haptic device with force feedback effect was used to improve ergonomics of main operator activities. In the second case study, immersive approach was used, namely Head-Mounted Device, tracking and gesture recognition systems, to test and improve ergonomics of the whole workplace. Application of VR techniques allows to present the virtual prototype of the workplace in its real operation environment, limiting the need for use of real mock-ups. Therefore, Virtual Reality allows to conduct a number of analyses related to designed prototypes, such as: dimensions of devices and possibilities of adjustment to height of the human operator, and arrangement of control and signaling devices according to the rules of ergonomic design. To conduct these analyses, full interaction between user and workplace must be programmed, including collision detection, kinematics of the devices and possibilities of activating their various functions in relation with other objects in the virtual scene.
Procedia Computer Science, 2013
This paper presents a process of building a prototype of an educational application for teaching ... more This paper presents a process of building a prototype of an educational application for teaching anatomy with elements of physiology, with use of a Virtual Reality environment. Preparation of mesh models of individual human organs is described, along with further visualization techniques, which were used to ensure a proper level of a visual representation. Stages of user interface preparation are also described-both visual and functional aspects covered-with a detailed review of a visual programming process, which was used to obtain a logical structure of connections inside the VR environment. Process of preparation of dynamic graphical data-namely animation of the pulmonary alveoli-and integration it with the virtual environment is also presented. The final application can be used in a number of ways, including large-screen stereoscopic projection with onscreen graphical user interface and single-user immersive stereoscopic projection using a head-mounted device with an optical tracking system. Results of assessment of the application advantages and disadvantages at the current stage of development allowed to formulate several directions of further advancement.
Procedia Computer Science, 2017
The paper presents a new approach to creating interactive simulations for testing tactile interac... more The paper presents a new approach to creating interactive simulations for testing tactile interaction with the user, which involves use of a low-cost device. The role of the haptic (touch) device and its functionality is achieved by using a manipulator with a parallel kinematic structure (Delta robot). This required the development of methods of integrating a robot with the selected Virtual Reality (VR) systems. Therefore, a new element was introduced into the virtual environment-a device to simulate real objects. In the Virtual Environment (VE), user interacted with a simulated object, and the task of the Delta robot was moving into a position which enabled the interaction. In this way, VE has become more responsive because it corresponded to the behavior of the user, who can move and interact with digital objects and directly experience their physical properties (e.g. size, shape). According to the authors, this type of application will be able in the future to support the effectiveness of virtual training, with particular emphasis on educational simulation (e.g. to perform procedural tasks).
Lecture Notes in Computer Science, 2018
The paper presents a Virtual Reality (VR) training system dedicated for interactive course focuse... more The paper presents a Virtual Reality (VR) training system dedicated for interactive course focused on acquisition of competences in the field of manual procedural tasks. It was developed as a response for the growing market demand for low-cost VR systems supporting industrial training. A scenario for the implementation of an elementary manual operation (modified peg-in-hole task) was developed. The aim of the test was to show whether the prepared solution (along with peripheral devices) can be an effective tool for training the activities performed at the production site. The procedural task was performed by specific test groups using various peripheral devices. The paper presents preliminary results of tests regarding evaluation of effectiveness of virtual training, depending on specific peripheral devices used.
Advances in Production Engineering & Management, Dec 18, 2021
Industry 4.0 forces increased digitization, production flexibility, improvement of employee compe... more Industry 4.0 forces increased digitization, production flexibility, improvement of employee competences and integration of employees and IT systems within an enterprise. To this end, state-of-the-art systems and IT solutions, such as the Virtual Reality (VR) and Augmented Reality (AR), are implemented. New systems must be integrated with the existing IT architecture, and their implementation forces the enterprise to provide network access with sufficient bandwidth to fully benefit from the capabilities of new technologies. The paper discusses the practical application of modern AR solutions in the industry, with a special focus on remote support for maintenance operations and training of production employees. Two experiments aimed determining the impact of various environmental conditions on the possibility of using the AR Remote Support are described. Basing on those experiments it is possible to determine the environmental conditions required to use HoloLens 2 AR goggles in two dedicated remote support applications.
Lecture Notes in Mechanical Engineering, 2017
The article describes research on recycling-oriented analysis during product ecodesign. The study... more The article describes research on recycling-oriented analysis during product ecodesign. The study was conducted using a proprietary agent system operating based on the recycling-oriented product model. The analysis focused on a household appliance: an electric kettle. The authors developed a project of a new appliance and then created its geometric model in a CAD 3D system. Next, analyses were conducted to compare the recyclability of the appliance with different material and joint combinations. A total of 16 different variants of the appliance were designed within the project. Each of them was evaluated for its recycling parameters and cost of recycling.
Advances in Intelligent Systems and Computing, 2018
One of the key aspects of Industry 4.0 is high automation of various processes conducted through ... more One of the key aspects of Industry 4.0 is high automation of various processes conducted through product lifecycle. In the article the authors consider the issue of final stages of product lifecycle and the automation of product assessment from ecological point-of-view in the context of Industry 4.0. The automation of product assessment is conducted by set of measures, calculated from special type of product model called Recycling Model of Product, that is also showed in the paper. The Recycling Model of Product and the assessment are conducted using dedicated module, operating in CAD 3D system environment. The assessment of example product is presented in the paper as well.
In the paper the method of product analysis from recycling point of view has been described. The ... more In the paper the method of product analysis from recycling point of view has been described. The analysis bases on set of measures that assess a product from the point of view of final stages of its lifecycle. It was assumed that such analysis will be performed at the design phase – in order to conduct such analysis the computer system that aids the designer during the design process has been developed. The structure of the computer tool, based on agent technology, and example results has been also included in the paper.
Uploads
Papers by Damian Grajewski