Design of a Cartesian Robot for Pushing Bulk Materials in a Transport and Packaging Container Askar Seidakhmet, Amandyk Tuleshov, Assylbek Jomartov, Akmurat Altynbek, Jacek Cieślik, Azizbek Abduraimov, Aziz Kamal, Madi Kaliyev, Zair Ualiyev Robotics, 2026 Automating the pushing of bulk materials deposited through the hatch of a transport and packaging container (TPC) requires the development of a specialized robot equipped with an end effector capable of displacing material within a spatially constrained environment. This paper proposes a Cartesian robot design featuring a cellular end effector—comprising a grid of rectangular compartments—and a control system that enables the pushing of bulk material batches loaded via the hatch. This work presents experimental results regarding robotic workcell performance as a function of its end effector immersion depth and the material’s moisture content. Finite element modeling (FEM) of the end effector is detailed, determining the resistance forces encountered during movement at various immersion depths within the bulk material. Furthermore, an analysis of the container’s design was conducted to determine the final layer thickness of the bulk material after leveling five consecutive loaded portions. Newton–Euler equations are formulated to describe the movement dynamics of the end effector, considering variables such as immersion depth and material moisture. Additionally, a motion control algorithm was developed to accommodate varying displacements of the conical heap’s apex relative to the hatch center, integrated within the overall Cartesian robot control system. The derived results and recommendations facilitate the effective pushing and redistribution of loaded material batches within the container. Finally, finite element analysis and experimental validation confirm the structural strength and rigidity of the Cartesian robotic workcell, ensuring that the maximum elastic deflection of the end effector under peak dynamic load remains ≈ 1 mm.
Design and Experimental Research of a Hybrid Cartesian Robot for Knee Joint Operations Assylbek Jomartov, Kassymbek Ozhikenov, Amandyk Tuleshov, Askar Seidakhmet, Azizbek Abduraimov, Aziz Kamal, Moldir Kuatova, Nurgali Kumarbek Journal of Robotics, 2026 Background The aim of this study lies in the development of a hybrid Cartesian robot for knee joint surgeries, to eliminate the shortcomings of existing surgical robots. Methods To develop a hybrid Cartesian robot, we used a combination of a Cartesian manipulator and a serial manipulator, both with three degrees of freedom (DOF). Results A 3D model of a hybrid Cartesian robot for knee joint surgery is developed, and a prototype is designed in a simplified form based on this model. The experimental tests of the 6DOF prototype of the hybrid Cartesian robot used for knee joint surgery confirmed its good performance when cutting hard cow bone. Conclusion To eliminate the disadvantages in surgical robots used for knee joint operations, a hybrid Cartesian robot has been developed. The hybrid Cartesian robot has the strengths of parallel and serial robots, potentially eliminating the main disadvantage of their designs.
Design of an Earthquake Simulator Based on a Cable-Driven Parallel Robot Assylbek Jomartov, Marco Ceccarelli, Amandyk Tuleshov, Azizbek Abduraimov, Aziz Kamal Robotics, 2025 Due to the fact that earthquakes cannot be predicted, earthquake simulation is of great importance. An earthquake simulator is a device that reproduces the seismic waves generated by an earthquake. The aim of this work is to present the design and prototyping of an earthquake simulator that simulates a real long-period ground motion earthquake with vertical displacement, according to the earthquake seismogram. A control interface was designed for a prototype earthquake simulator to reproduce a given earthquake seismogram. The mobile platform of the earthquake simulator prototype performs translational motions in the direction of the X and Y axes due to the use of a cable-driven parallel robot, and the vertical translational motion of the platform along the Z axis is performed by linear screw drives. A prototype earthquake simulator was manufactured and tested, confirming the feasibility of reproducing long-period ground motion during an earthquake. The earthquake simulator implements motions that make a person experience sensations similar to those that occur during real earthquakes.
Experimental determination of trajectory of motion and tensions of cable-suspended parallel robot with point-mass end-effector Assylbek Jomartov, Amandyk Tuleshov, Ackar Seidakhmet, Aziz Kamal, Azizbek Abduraimov International Journal of Mechanical Engineering Education, 2025 This paper presents an experimental research of a cable-suspended parallel robot with point-mass end-effector for practical application in the educational process. Due to the fact that the cables in the cable-suspended parallel robot with point-mass end-effector are located above the end-effector, it has great advantages compared to other cable- driven parallel robots. Here, the possibility of interaction of cables with each other and the environment is excluded. Such a structure of the cable-suspended parallel robot with point-mass end-effector allows for uniform distribution of the load along the cables and thereby increases the lifting capacity. The main disadvantage of the cable-suspended parallel robot with point-mass end-effector is its low rigidity. Low rigidity of the cable-suspended parallel robot with point-mass end-effector, when applying a load, leads to its significant oscillations of the end-effector, which reduces the accuracy of trajectory reproduction. The conducted experimental determinations of the real trajectory of the cable-suspended parallel robot with point-mass end-effector and the level of tension of the cables allow us to evaluate its operation in real operating conditions. It has been established that for normal operation of the cable-suspended parallel robot with point-mass end-effector it is necessary to control the real trajectory of the robot and the level of tension of the cables. The experimental methods of research of the cable-suspended parallel robot with point-mass end-effector developed in the work are simple and understandable for their practical application in the educational process.
Gyroscopic rotor dynamics simulation with anisotropy of elastic and damping characteristics of the support Azizbek Abduraimov, Zharilkassin Iskakov, Aziz Kamal, Akmaral Kalybayeva Advances in Mechanical Engineering, 2024 In the work, the differential equations of motion of the gyroscopic rotor, built taking into account the anisotropy of stiffness and damping of the flexible support, are solved analytically, by the method of harmonic balance, convenient for obtaining separately amplitude-frequency and phase-frequency characteristics in the direction of oscillations. The equations of the non-stationary process are obtained by the method of changing amplitudes. It has been found that when the linear stiffness of the elastic support is different in two orthogonal directions, two critical velocities and the corresponding resonant regions arise. In the area of each critical speed, there are two amplitude-frequency curves of oscillations of the main direction and the direction perpendicular to it, respectively. The geometric nonlinearity of damping suppresses the elevations of these amplitude-frequency curves more significantly than linear damping. If only one of the two directions has a damping nonlinearity, then its effect is on the amplitude-frequency curves of the corresponding critical speed. It is more efficient to control resonant amplitudes for smooth resonant transitions by enhancing the linear damping with geometrically nonlinear damping. The results of the analytical solution of the equations of motion agree well with the results of direct modeling and experimental studies.
Delta robot forward kinematics method with one root Igor Gritsenko, Askar Seidakhmet, Azizbek Abduraimov, Pavel Gritsenko, Abay Bekbaganbetov 2017 International Conference on Robotics and Automation Sciences Icras 2017, 2017
