Delta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precision and motor behavior. The paper highlights the influence on the dynamic behavior of a Delta robot by considering individual and combined effects of clearances and friction in the spherical joints, as well as the flexibility of the rod elements. The CAD modeling of the Delta robot and its motion simulation on a representative spatial trajectory where the maximum allowed values of speed and acceleration are reached were performed using the Catia and Adams software packages. The obtained results show that the methods used were successfully applied and the effects are mutually interconnected, but not cumulative.

Increasing the efficiency of wind power conversion into electricity poses major challenges to researchers and developers of wind turbines, who are striving for new solutions that can ensure better use of local wind potential in terms of both feasibility and affordability. The paper proposes a novel concept of wind systems with counter-rotating wind rotors that can integrate either conventional or counter-rotating electric generators, by means of the same differential planetary speed increaser, aiming at providing a comparative analysis of the energy performance of counter-rotating wind turbines with counter-rotating vs. conventional electric generators. To this end, a generalized analytical model for angular speeds and torques has been developed, which can be customized for both system configurations. Three numerical simulation scenarios have been contrasted: (a) a scenario with identical wind rotors in both systems, (b) a scenario with the secondary wind rotors being identical in the two applications, but different from the primary rotors, and (c) a scenario with different secondary rotors in the two wind turbines. The results have shown that the wind systems with counter-rotating generator are more efficient and have a higher amplification ratio, compared to systems with conventional generators. In addition, the analyzed wind system with a counter-rotating generator displays better energy performance with low values for output power and ratio of input speeds, whereas the wind turbine with a conventional generator proves to be more efficient in the high-value range of the above-mentioned parameters.

The improvement of wind turbine performance poses a constant challenge to researchers and designers in the field. As a result, the literature presents new concepts of wind turbines (WTs), such as: counter-rotating wind turbines (CRWTs) with two coaxial wind rotors revolving in opposite directions, WTs with higher-efficiency and downsized transmission systems, or WTs with counter-rotating electric generators (CREGs). Currently, there are a few solutions of WTs, both containing counter-rotating components; however, they can only be used in small-scale applications. Aiming to extend the use of WTs with counter-rotating wind rotors (CRWRs) and CREGs to medium- and large-scale applications, this paper introduces and analyzes a higher-performance WT solution, which integrates two counter-rotating wind rotors, a 1 degree of freedom (DOF) planetary speed increaser with four inputs and outputs, and a counter-rotating electric generator. The proposed system yields various technical benefits: it has a compact design, increases the output power (which makes it suitable for medium- and large-scale wind turbines) and allows a more efficient operation of the electric generator. The kinematic and static computing methodology, as well as the analytical models and diagrams developed for various case studies, might prove useful for researchers and designers in the field to establish the most advantageous solution of planetary speed increasers for the CRWTs with CREGs. Moreover, this paper extends the current database of WT speed increasers with an innovative concept of 1 DOF planetary gearbox, which is subject to a patent application.

The paper presents a general approach to the steady-state efficiency analysis of one degree of freedom (1-DOF) speed increasers with one or two inputs, and one or two outputs, applicable to wind, hydro and marine-current power generating systems. The mechanical power flow, and the efficiency of this type of complex speed increasers, are important issues in the design and development of new power-generating systems. It is revealed that speed increases, with in-parallel transmission of the mechanical power from the wind or water rotors to the electric generator, have better efficiency than serial transmissions, but their efficiency calculus is still a challenging problem, solved in the paper by applying the decomposition method of complex speed increasers into simpler component planetary gear sets. Therefore, kinematic, steady-state torque and efficiency equations are derived for a generic 1-DOF speed increasers with two inputs and two outputs, obtained by connecting in parallel two gear mechanisms. These equations allow any speed increaser to be analysed with two inputs and one output, with one input and two outputs, and with one input and one output. We discuss a novel design of a patent-pending planetary-gear speed increaser, equipped with a two-way clutch, which can operate (in combination with the pitch adjustment of the rotors blades) in four distinct configurations. It was found that the mechanical efficiency of this speed increaser in the steady-state regime is influenced by the interior kinematic ratios, the input-torque ratio and by the meshing efficiency of its individual gear pairs. The efficiency of counter-rotating dual-rotor systems was found to be the highest, followed by systems with counter-rotating electric generator, and both have higher efficiency than conventional systems with one rotor and one electric generator with fixed-stator.

Most wind turbines (WT) are of the single-rotor type, which means they are simple, reliable and durable, but unlikely to convert more than 40% of the available wind energy. Different solutions are proposed to minimize WT energy loss and improve performance, such as the use of speed increasers, counter-rotating wind rotors or counter-rotating electric generators. Downsizing the design, saving weight and reducing the cost of WT conversion systems, while increasing their efficiency, have posed constant challenges to WT designers. Nevertheless, very little research in the field is concerned with, and partially recommends, the design of conversion systems. Therefore, the aim of this paper is to propose a specific algorithm for the conceptual synthesis of speed increasers integrated in WT conversion systems, starting with an inventory of all combinations of the main components of a conversion system that prove compatible for efficient functioning. The algorithm is structured in two sections: the first one includes a four-step approach to WT system design, while the second one follows a three-step procedure for identifying the speed increaser concept. Twenty-two variants of speed increasers are further generated and analyzed, four of which are innovative solutions proposed by the authors. The paper also provides guidelines for identifying the WT conversion system concept according to the circumstances of its application.