Didactic Laboratory of Mechatronics, Haptics and Robotics systems - MecHaRo-Lab | Faculty of Mechanical Engineering and Ship Technology at the Gdańsk University of Technology

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Didactic Laboratory of Mechatronics, Haptics and Robotics systems - MecHaRo-Lab

The establishment of the laboratory is carried out as part of the IDUB Gdańsk Tech CoreEduFacilities program (2022-2023)

Aim of the project

The aim of the project is a deep modernization of robotics laboratories at the Institute of Mechanics and Machine Design at the Faculty of Mechanical Engineering and Ship Technology, which will result in providing key and necessary infrastructure to conduct didactic classes at a high level, in a modern way, attractive to students and in line with current trends in industry and science. This will prepare students for the expectations and requirements of the modern economy based on innovation, high competitiveness and characterized by dynamic changes.

Laboratory equipment
  • In our lab, we use RoboDK for simulation and off-line programming of industrial robots. The software was obtained thanks to the courtesy of RoboDK (https://robodk.com/).

     
  • 10 computer workstations with rich utility software for Windows and Linux, including: Matlab, NI LabView, STM32CubeIDE, ArduinoIDE, Python, RoboAnalyzer, Autodesk Inventor, ROS, RoboDK and many others.
  • Collaborative robot ("co-bot") stand
    • HANWHA HR-3A robot
      • Additional sensor for measuring force and torque acting on the robot flanche
      • Vison system
    • Collaborative robots are a future direction of robotics development, enabling direct cooperation between humans and robots.
  • Industrial, anthropomorphic, 6-axis robot stand
    • Nachi MZ-04D robot
      • Additional sensor for measuring force and torque acting on the robot flanche
    • Classic, typical, universal industrial robot with a serial kinematic structure.
  • Delta robot stand
    • ABB IRB 360-3/1300robot
    • Digital camera
    • Detail feeder
    • Belt conveyor
    • "Delta" type robots, with a parallel kinematic structure (significantly different from the class of serial structures) are widely used in the electronics and food industries, e.g. in pick & place tasks, in packaging and products sorting and other tasks where speed of work and the rigidity of the manipulator structure is necessary.

       
  • Walking mobile robot
    • Unitree Go1Edu Plus robot
      • 2D LIDAR
      • 5 3D RGBD cameras
      • 5 ultrasonic distance sensors
      • IMU unit
    • Walking robots are gradually finding applications, e.g. in transport tasks and when crossing hard-to-reach terrain. This spectacular branch of robotics is developing rapidly, especially in the area of everyday cooperation with humans.

       
  • Mobile robot, 4-wheel
    • Husarion ROSBot 2 PRO robot
      • 2D LIDAR
      • 3D RGBD camera
      • Ultrasonic distance sensors
      • IMU unit
    • A mobile platform with typical design for this class of robots, equipped with a set of basic sensors used primarily in location, navigation, localization and mapping (SLAM) tasks.

       
  • Haptic arm
    • Geomatic Touch haptic arm
    • Manipulator operated by the user by moving the tip of the manipulator directly (in contrast to the standard solution, where the tip performs the movements set from the control panel). Enables direct force feedback for the robotic arm operator. Such manipulators are used, for example, in virtual (e.g. process and task simulations) and in augmented (e.g.  co-bot teleoperation) reality.

       
  • Teaching kits for robot construction
    • Bioloid modular robots
    • LEGO® Mindstorm EV3 Sets
    • Sets that give students the opportunity to learn basic issues regarding the construction of robots and creative creation of their own constructions.

       
  • Elements of the analytical laboratory
    • Physical parameters measurement unit for liquids, centrifuge, test tubes and pipettes simulating a simple analytical laboratory as operating objects for a collaborative robot

       
  • Multisensor, digital measurement modules
    • STM SensorTile.Box
      • Integrated modules including accelerometer, gyroscope, magnetometer, barometer, thermometer
      • Possibility of data transmission via USB, Bluetooth or saving to SD card
    • Small measurement modules that integrate a variety of sensors and enable data to be recorded in local memory or transmit them to a PC via digital communication. The modules enable performing a variety of exercises regarding recording signals typical for mechatronics, robotics (in particular mobile) and haptics, and then processing them, e.g. in the Matlab or LabView environment
  • Modular analogue-to-digital measurement system
    • NI cDAQ Measurement System
      • cDAQ 9174 NI Controller
      • 3 channel voltage measurement module with IEPE Accelerometer Support - NI 9230
      • 4 channel digital I/O module - NI 9402
      • 4 channel relay module - NI 9482
      • 4-channel voltage measurement module with dedicated support for various sensor types - NI 9219
    • The system enables the implementation of many types of measurements using a variety of sensors used in mechatronics, robotics (conventional-industrial, space, medical and mobile) and haptic systems.
  • Measurement sensors
    • tensometers
    • thermocouples
    • resistive temperature sensors
    • absolute encoders
    • incremental encoders
    • optical occupancy detectors
    • color sensor
    • IMU units
    • and other…
  • Basic electronic laboratory equipment
    • Oscilloscope
    • Function generator
    • Power supplies