Laboratory stations

Laboratory of Mechatronics I (2M339)

Supervisor: prof. dr hab. inż. P. Olejnik


Station		Materials
LAB 1A. Selection of parameters of the PID controller in the system of two-axis stabilization of a camera attached to a gimbal driven by BLDC motors LAB 1B. Evaluation of stabilization by measuring the characteristic points of the reference image when periodically forcing the suspension of the camera attached to the gimbal		video
LAB 2. Controlling DC motors using the STM32F4 Discovery microprocessor startup kit		video
LAB 3. Liquid level control in a system of two connected tanks filled with water		video
LAB 4. Controlling mechatronic devices and transmitting data on the Arduino UNO microcontroller test bench
LAB 5. Designing arithmetic and logic circuits using the CPLD/FPGA digital circuit test set
LAB 6. Analog modeling and control systems for linear dynamic systems
LAB 7. Static and dynamic responses on the KL-210 laboratory bench for testing sub-basic electrical/electronic systems
LAB 8. Mechatronic system for observation and testing of sliding friction (part A and B)		video
LAB 9. Measurement and processing of electrical signals in mechatronic systems		video
LAB 10. Analog automatic control system in cooperation with digital controller
LAB 11. Selected electronic circuits of analog and digital signal filters in measurement and automation
LAB 12. Selection of parameters of PID controller of position and speed trajectory control system of linear permanent magnet synchronous motor under variable friction load		video
LAB 13. Registration and analysis of time trajectories of mechanical oscillations of a friction torsion pendulum in response to quasi-sinusoidal forcing
LAB 14. Position control of a camera mounted on a two-axis gimbal integrated into a robotic arm
LAB 15. Position control of a three-axis gimbal with backlash

0

Laboratory of Mechatronics II (2M323)

Supervisor: G. Wasilewski
Station		Materials
A single workstation with a computer, measurement card, controlled power supply, laboratory function generator, multimeter, and a sample training set with a visible relay module and controlled inductive coil.
Physical pendulum

0

Laboratory of Mechanics (2M336)

Supervisors: K. Witkowski, G. Kudra

Station

Materials

1

01a Stanowisko do badania reakcji podporowych w statycznych układach płaskich_0.jpg

01b Stanowisko do badania reakcji podporowych w statycznych układach płaskich_0.jpg

Experimental stand for investigation of support reactions in plane static systems

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2

02 Automatyczna równia pochyła do badania współczynników tarcia suchego_0.jpg

Automated inclined plane for investigation of dry friction coefficients

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3

03 Uniwersalne rekonfigurowalne stanowisko do badania układów oscylatorów mechanicznych_0.jpg

Universal reconfigurable experimental stand for investigations of mechanical oscillators, among others: of one and many degrees of freedom, excited by force or parametrically, with nonlinear magnetic springs and impacts.

3A

03a Badanie drgań liniowych wymuszonych o jednym stopniu swobody_0.jpg

Investigations of forced linear vibrations of a one-degree-of-freedom system

3B

03b Badania doświadczalne oscylatora o 1 stopniu swobody z uderzeniami_0.jpg

Experimental investigations of 1-degree-of-freedom impacting oscillator

3C

03c Badania doświadczalne wymuszonego oscylatora mechanicznego o 2 stopniach swobody ze sprężynami magnetycznymi_0.jpg

Experimental investigations of a forced 2-degree-of-freedom mechanical oscillator with magnetic springs

3D

03d Badania doświadczalne wymuszonego oscylatora mechanicznego o 1 stopniu swobody z dwiema studniami potencjału_0.jpg

Experimental investigations of a forced 1-degree-of-freedom mechanical oscillator with two potential wells

3E

03e Badania doświadczalne oscylatora mechanicznego o 1 stopniu swobody z wymuszeniem parametrycznym_0.jpg

Experimental investigations of a 1-degree-of-freedom mechanical oscillator with parametric excitation

4

A. Investigation of mass moments of inertia using the pendulum method
B. Investigation of mass moments of inertia using the method of torsional vibrations

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5

A. Testing three critical speeds
B. Testing natural vibration frequencies with a vibration sensor

6

A. Testing of natural and forced vibrations of the beam
B. Testing of the dynamic vibration eliminator

7

Investigation of free vibrations

8

Investigation of relation between forces in bands of a brake in equilibrium state

9

09 Podwójne wahadło przestrzenne z przegubami Cardana-Hooka _0.jpg

Double spatial pendulum with Cardan-Hook joints for investigations of:
A. Bifurcation dynamics of a double spatial pendulum
B. Bifurcation dynamics of a double spatial pendulum with impacts

10

A. Study and recording of the vibration form of the system combined with observation of the energy transfer phenomenon
B. Example of using the non-contact transducer KM110BH2390 with a range of +/- 45 degrees cooperating with a magnet

11

A.   Investigation of bifurcation dynamics of triple physical pendulum
B.   Investigation of motion modes of triple physical pendulum
C.   Investigation of motion modes of double physical pendulum with a pair of magnets
D.   Scaling of angular displacement transducers

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12

Study of the magnetic moment as a function of the relative angle of the links

13

mech_13a - Wahadło wymuszone poziomo silnikiem prądu stałego.jpg

mech_13b - Wahadło wymuszone poziomo silnikiem prądu stałego.jpg

A.   Investigation of bifurcation dynamics of a pendulum driven horizontally by a DC motor with a slider-crank mechanism, with possibility of introducing magnetic interactions
B.   Investigation of pendulum motion forms for various DC motor voltages, with the coils switched off and on
C.   Investigation of magnetic torque as a function of position of the pendulum with magnet with respect to the coil

14

A. Study of the form of the pendulum motion for different currents, frequencies and duty cycle of the switching signal
B. Determination of the torque characteristic as a function of the position of the pendulum with a magnet relative to the coil for different currents

15

A. Study of the form of pendulum motion for different options: a) pendulums tested as single or flexible connected, b) measurements for different currents, frequencies, switching signal duty cycle
B. Determination of the characteristic of the moment from magnetic forces as a function of the pendulum position angle for different currents

16

mech_16 - wahadło fizyczne łożyskowane aerostatycznie.jpg

Exercise 1: "Study of the free motion of a physical pendulum with aerostatic bearings."
Exercise 2: "Study of the form of motion of a pendulum with a magnet for different currents and configurations of power supply for additional coils and different forms of the variable current signal of the selected coil (pulse with variable duty cycle via a generator-controlled relay or any - e.g. sinusoidal, given by an amplifier controlled by voltage from the generator or measuring and control card)."
Exercise 3: "Determination of the characteristic of the moment from the magnetic force as a function of the position of a pendulum with a magnet relative to the coil for different currents."

17

A. Study of the parametric resonance of a single pendulum
B. Study of the synchronization of parametrically and electromagnetically forced pendulums

18

18 Samowzbudny układ drgający z wymuszeniem bezwładnościowym_0.jpg

Self-excited vibrating system with inertia excitation, with aerostatic bearings, allowing for investigation of dynamics of a system with one, two or three degrees of freedom, respectively, with:
• linear or non-linear elasticity
• the use of coils for damping or forcing vibrations

0

Laboratory of Automation (2M331)

Supervisor: K. Polczyński
Station		Materials
Study of basic automation elements
Two-position oven temperature control
Selsyn position tracking system
Testing transistor amplifiers
A. Testing the PID electronic controller B. Testing the continuous control system
Drive system with controlled friction clutch

0

Laboratory of Biomechanics (2M337)

Supervisor: B. Zagrodny
Station		Materials
Heart ECG, recording of electrical signals from the human body
Air and bone conduction, speech audiometry
Cardiopulmonary resuscitation CPR
Measurement and diagnosis of venous and arterial blood pressure
Auscultation of the lungs, first and second heart sounds, pulse examination, lung sounds
Thermal imaging camera
Ground reactions during walking, running, analysis of postural stability
Optoelectronic system for analysis and recording of movement (Motion capture)
Pneumatic control, solenoid valves, control system
Simulation of impact on the chest model
Study of the characteristics of pneumatic (feathered) muscles
Surface electromyography: Functioning of the muscular system, cooperation of single- and multi-joint muscles, compensation and stabilization of movement
Determining the center of gravity of the human body
Application of the algorithm to the movements of a winding snake
Study of the walking mechanism on different substrates
Gait programming
Examination of the range of limb movement and workspace using the SFTR method
Spirometer
Testing the strength of the skull orbit