Force measurement is a science discipline that experiences significant progress with the introduction of new materials and evaluation methods. Many different sensor types, working on different principles, have been developed and reviewed and have found use in medicine as well as many other industries. New trends and demands require a size reduction and simple applicability, with the use of, for example, micro electromechanical systems ($MEMS$). For purposes of this study, the initial $MEMS$ body is supplemented by its scaled version. Force measurement in this study works on the force to time-delay conversion principle. A compact compliant mechanical body ($CCMB$) with an embedded parallel resonant circuit ($PRC$) acting as a transducer realizes the conversion. Depending on the resonant frequency of the transducer ($CCMB$ or $MEMS$), we have measured the applied force based on the reverse influence of the transducer on the surrounding $EM$ field. The analysis shows that the transducer’s resonant frequency has a detectable reverse influence on the voltage-controlled oscillator ($VCO$) $DC$ supply current. The force influencing the transducer is determined by the $DC$ supply current ripple position during the $VCO$ frequency sweep. The study presents the method proposal and mathematical analysis, as well as its function verification by simulation and prototype measurements. The proposed principle was validated on a $CCMB$ prototype capable of measuring forces up to ∼$2.5$ N at a sampling frequency of ∼23 kHz, while the measured time-delay ranges from $14.5$ µs to $27.4$ µs.

This paper deals with the concept of the automated calibration design for inspection systems using laser sensors. The conceptual solution is based on using a laser sensor and its ability to scan 3D surfaces of inspected objects in order to create a representative point cloud. Problems of scanning are briefly discussed. The automated calibration procedure for solving problems of errors due to non-precise adjustment of the mechanical arrangement, possible tolerances in assembly, and their following elimination is proposed. The main goal is to develop a system able to measure and quantify the quality of produced objects in the environment of Industry 4.0. Laboratory measurements on the experimental stand, including the principal software solution for automated calibration of laser sensors suitable for gear wheel inspection systems are presented. There is described design of compensation eccentricity by Fourier transform and sinusoidal fitting to identify and suppress the first harmonic component in the data with high precision measuring.

Small precise robotic devices, working on principle of compact compliant mechanisms, must meet the conditions to high positioning accuracy what mean moving in straight-line too. But, compliant mechanisms are usually produced by equivalent of revolute joints, therefore in design of small robotic devices is necessary apply knowledge from design of one type of specialized mechanisms – straight-line mechanisms. This paper presents some straight-line mechanism and its applications to design of some small precise robotic devices. According to kinematics analysis most known straight-line mechanisms are evaluated for their application in compliant mechanisms. Such devices are transformed to flexure structures. Consequently, these devices are important building blocks to design some linear-motion stages and/or micro-grippers.

Design of small robotic positioning devices is required for some special tasks in field of robotics. In the case that workspace is smaller as 1mm then only compact compliant devices could be utilized. But in the case that straight-line output motion is required too; the design of such devices is more complicated, because the parasitic deformations must be minimized. As suitable solution is seemed combination of principles straight-line devices and compliant mechanisms in design process. This paper deals with design procedures for device based on compact compliant mechanical structure, where kinematical structure of Peaucellier-Lipkin straight-line mechanism was utilized. Design problems of transformation between straight-line mechanisms and flexure structures are discussed.

This paper deals with design procedures for devices based on compact compliant mechanical structures. Compliant mechanisms represent relatively a broad class of electro-mechanical systems where output motions / displacements are reached by elastic deformation of their flexural parts / segments. They are used especially for building robotic micro-positioning devices, effectors, sensors and actuators. Design problems of compliant mechanisms for particular devices are discussed. Application of an optimization procedure in design of the compliant joint is shown as example.