Technical feasibility


PARTEA A: Identificarea rezultatului cercetării-deZvoltării (CD)

·         The project team

             Echipa proiectului

Advisor’s Name:Nume: Department of Technologies and Materials and Department of Electrical Engineering
Phone:Telefon:  +40.723.163396
Expecting date of valorization plan submission:Data aşteptată pentru trimiterea planului de valorizare  15.12.2011

·         Identification of R&D activity

Identificarea activităţii de cercetare-dezvoltare (CD)

Acronym:Acronim:  DTM
Author of the R&D result:Autorul rezultatului CD:  Drd. Eng. Dumitru Violeta Dumitru
Company or University:Companie sau Universitate:  UNIVERSITY OF  CRAIOVA, ROMANIA 
Phone:Telefon:  +40.765.490314
Sector:Domeniu:  ENG – Engineering
Type of the R&D result:Tipul rezultatului CD:  Product


Partea B: Planul de valorizare

SECTION I: Testing

SECŢIUNEA I: Testarea/încercarea



Has the R & D result been tested?A fost testat/încercat rezultatul CD?







The following question is replied according to the reply in question 1

Următoarea întrebare este formulată în legătură cu răspunsul la întrebarea 1


If yes

Dacă răspunsul a fost DA:



In what mode has the result been tested?•           Prototype

•           Pilot Application

•           Alpha/BETA testing

În ce mod a fost testat/încercat rezultatul?

•           Prototip

•           Aplicaţie Pilot

•           Incercare Alpha/BETA

1b. Please describe and discuss the testing resultsVa rugăm să descrieţi rezultatele testate/încercate


If no:

Dacă răspunsul a fost NU:


Describe what type of testing does the R&D result need?Descrieţi ce tip de testare/încercare necesită rezultatul CD?
Detailed commentComentariu detaliat


The result of present research consists of a technical solution (concept, design) and a functional model for a poly-articulated robotic system, in modular structure, with motion generated in 3D space, taking into account the adaptability and safety. Robotic arm includes a lot of adjacent elements that are similar to rigid vertebrae that are interconnected by cables (wires) arranged in series. The vertebrae are held in contact by means of cables (wires) arranged in 1200 between them. By driving two wires of outer mechanism it is possible to rotate the final vertebra with an angle of ± 200 in any direction. For physical manufacturing of the model it will be used the existing material resources within the Faculty of Mechanical Engineering.

Experimental model for testing and evaluation, industrial prototypes, pilot batch, product range, are necessary to cover the following steps:
- Concept, design and realization of the functional model;
- Testing and probing of functional model, industrial prototype, pilot batch, series product
- Verification of product conformity to social needs;
- Verification of performance and reliability characteristics;
- Checking the behavior in extreme conditions (high, low);
- Checking the features of design and ergonomic;
- Verification of labour safety measures

To check the kinematic and dynamic stability of various sub-assemblies of modular robotic system, mechanical and technological tests will be conducted in the required field and accidental fields of forces. Maximum test force is 50 N. The aim is to move the outer and inner mechanism, the size of the assembly margin, Joystick’s operation and worm wheel drive for manually tensioning of cable core.

Also, tests and development assessments are conducted to analyze product compliance with technical and economic parameters of performance and safety certification of the product.

1d. What is the time needed for testing?Care este perioada de timp necesară testări?
The time period for testing, probing homologation is estimated at 90 working days
1e. What is the cost needed for testing?Care este costul necesar pentru testare?
Product costs (research, design, prototyping) are estimated at 10,000 Euro. Costs related to testing, probing and homologation of functional model are estimated to be 2,500 Euro.

SECTION 2: Current Stage of Development

SECŢIUNEA 2: Stadiul actual de dezvoltare



To what extent does the development team have technical resources for supporting the production of a new product? (Researchers, human resources, hardware, etc. )În ce măsură dispune echipa de resursele necesare pentru a asigura fabricarea noului produs? (Cercetători, resurse umane, hardware, etc.)
University of Craiova is one of the most important institutions of higher education in South-West Oltenia Region, with managerial experience in scientific research; academic staff is involved in both fundamental and applied research in all areas, as well as consulting and expertise.

The team is et up and has the required resources to ensure new product manufacturing (researchers, human resources, hardware, etc.) The team has a longtime experience both in research and in prototype development  (physical models). The  ” Laboratory of Design, production control and management”, “Laboratory of product manufacturing technology” are available with also other laboratories and workshops within the department. At the same time the existing base is available knowledge and information in the field.

The research team can implement completely the project at the proposed quality parameters, with appropriate funding, in due time. In support of this statement we bring these arguments:
- Research team includes experts who recognized nationally and internationally, with significant results in the field of medical devices, validated by publications, who are  competent in all research areas that are specified;
- Proven experience and competence of research team in completing other research contracts;
- The existence within the Faculty of Mechanical Engineering, University of Craiova, of equipment and software that is a solid base for stages of design, testing and trial.

The product is the result of research and experimentation activities conducted by a team of specialists who wish to further optimize and launch the product in current manufacturing. In this respect, the team is available for technical advice, so that potential partners can start manufacturing the new product.


What are the technical issues that need to be tackled for full deployment, if needed?Care sunt aspectele tehnice ce trebuie abordate pentru lansarea în fabricaţie, dacă sunt necesare?
 Based on innovative technical solutions for the manufacturing launch of the product, the next steps are required for technical and technological development:
- working out the design concept and requirements;
- Product design and production;
- Prototype execution;
- Prototype testing, probing homologation (reports of analysis, tests, measurements);
- Design of manufacturing flow technology;
- Execution of zero series to verify if technological documentation and degree of equipping with tools and devices is ensuring the performances of the approved prototype.;
- Certification of series products .
Also, the installation and operating instructions are completed over the stage of manufacturing launch.


What additional technical resources are needed for the production of this new product?Ce resurse tehnice suplimentare sunt necesare pentru fabricarea acestui nou produs?
To manufacture the new product is required to find technical solutions for creating three-dimensional vision, and CNC of robotic system. To this end, there are various conditions required, such as: small overall dimensions, energy efficiency, noise-free operation, reliability, and availability to be supplied from the mains (220 V /50 Hz). These conditions can be met by special equipment such as medical camcorder, power electronics and CNC controller. For their implementation into the structure of the system, additional research is required to be conducted by  companies specialized in these areas.




Overall assessment of the current stage of technical development.Evaluarea generală a stadiului actual de dezvoltare tehnică
Detailed commentComentariu detaliat

At the present stage of technical development, health systems for minimally invasive surgery, are known nationally and internationally.

Specialized companies worldwide, such as M-Tran II (Distributed Systems Design Research Group – Tsukuba, Japan), Hirose Titech (Tokyo Institute of Technology), CONRO (University of Southern California – Los Angeles, USA) has developed such systems.
A functional model of a poly-articulated robotic system, modular structure, with motion generated in 3D space, under direct control of human operator is developed at the University of Craiova, Faculty of Mechanical Engineering. This system includes the following components: poly-articulated mechanical system (1); the power supply to operate the actuators (2);  microcontroller (3); connectors interface with main control board (4); power booster for actuators (5);  SPIDER8 digital system for data acquisition (6); Toshiba Notebook (7). Poly-articulated robotic arm has a diameter of 14.5 mm, a length of 202 mm. Each of the drive mechanism is continuously driven by a stepper motor of 1.25 Nm and rotation speed of 120 RPM, enabling a speed of advance / withdrawal of the robotic arm of 50 mm/s. Linear sleighs are driven by two mechanisms type screw nut (12 mm diameter, 3 mm step) that enable a linear motion of ± 172 mm in both directions.

Equipments in the system structure that have a certain uncertainty are: the 3-dimensional video system, control console for digital drives. For them additional research is required to be conducted by specialized companies in this field.
Operating of robotic system in sequential cycles, controlled by sensors and specialized electronic circuits, do not raise problems in manufacturing assimilation. In fact, these components are similar to those appropriate to standardized surgical robots. The operator, while comfortably seated in command console, by means of   keyboard or joystick, is operating the control elements of robotic arm.

As a result, this poly-articulated mechanical system can be the backbone of experiments on the spatial behavior of miniature robots.

In conclusion, further to evaluation of operating parameters, of  technical performance and manufacturing technologies, it resulted that poly-articulated robotic arm designed has a very good behavior and it can be proposed for its physical manufacturing as experimental prototype. Also, its launching in manufacturing is of interest ie  its promoting on national and international market.

SECTION 3: Deployment

SECŢIUNEA 3: Lansarea în fabricaţie


Define the demands for large scale production in terms ofDefiniţi cererea pentru producţia de masă în funcţie de:
  • Materials
  • Materiale
After creating and testing the experimental model, setting-up all suppliers of materials, components and subassemblies necessary to manufacture the product as well as quantities and delivery terms, it goes to series manufacturing.Purchase of materials and components (mechanical, electrical, electronics) is done by specialized companies that have under manufacturing such products.

Assimilation of a video system in order to capture three-dimensional images within the operating area is possible only after conducting additional experimental research.

  • technologies, tools, machineries
  • Tehnologii, utilaje, maşini
For series and mass manufacturing the following are required:
- specialized tools, devices and machines of high performance;
- (1) manufacturing line;
- (1) assembly line with approx. 10 workstations;
- (1) final station of product control and acceptance.
  • Staff effort
  • Resurse umane
 Required human resource estimated for serial and mass manufacturing, will be:
- Staff working on production lines, assembly and control: 20 persons;
- Service staff (supply, warehousing,  handling, delivery): 5 persons;
- Technical staff: 4 persons;
- Marketing, administrative staff: 3 persons. 



SECTION 4: Overall Assessment

SECŢIUNEA 4: Evaluare generală



What is you overall assessment of the technical feasibility of the research result?Care este evaluarea generală a fezabilităţii tehnice pentru rezultatul CD?
Technical parameters required to the new are achievable within the range of standardized (normalized) values , such as:
-diameter / length of robotic arm: [mm] 14.5 / 202

-service radius: [mm] 86
-lifting load: [g] 50
-linear sled race: [mm] ± 172
-speed of advancement / withdrawal: [mm / sec] 550
-positioning accuracy: [mm] ± 0.05
-repeatability accuracy: [mm] ± (0.05  0.10)
-Program Type: flexible
-Overall dimensions: [mm] 430 × 140 × 100
-mass: [kg] 10

Additional research require a video system for capturing three-dimensional images within  operating area, provided by specialized companies in this field.

Testing of products raises no problems, there are certified laboratories for this purpose, where, in addition to checking the functional parameters, it is checked the compatibility of poly-articulated robotic arm with minimally invasive surgery.

Assumed risks (technical, financial) linked to the manufacturing, implementation and operation of modular robotic system are minimal and they refer especially to the following types:
- Risks that may arise during design stage;
- Risks that may arise during execution stage of the product (technological risk, cost overrun risk, the risk of subcontractors);
- Risks that can arise during exploiting stage of the product (possibility of changing the Euro rate, changing economic circumstances in the area, major legislative changes).

In conclusion, the project can be considered as one with technically minimum risk. Thus, the product designed can be proposed for obtaining its physical manufacturing as experimental prototype. The fact is also of interest to launching it into series and mass production, with its promotion on national and international market.



Evaluare cantitativă (0-5)


Please put X as appropriate.

Vă rugăm să marcaţi cu X  punctajul considerat corespunzător


1 2 3 4 5
Adequacy of testing activity undertaken so farGradul de adecvare al activităţii de testare desfăşurate pănă în prezent X
Adequacy and availability of technical resources of the development teamGradul de adecvare şi disponibilitatea resurselor tehnice ale echipei X
Current development stageStadiul actual de dezvoltare X
Overall technical feasibilityFezabilitatea tehnică generală X

We agree that all informations contained in this form to be made public in the project „Inter-regional cooperation for valorization of research results – INTERVALUE”, by publication on the project website:

Suntem de acord ca informaţiile cuprinse în acest formular să fie făcute publice în cadrul proiectului „Inter-regional cooperation for valorization of research results – INTERVALUE”, prin publicarea lor pe site-ul proiectului, la adresa:

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