ABSTRACT
In the process of paper recycling, certain amounts of metals can be found in the cellulose suspension, the source of which is mainly printing inks. The paper industry often uses different technologies to reduce heavy metal emissions. The recycling of laminated packaging contributes to the formation of sticky particles, which affects the concentration of heavy metals. This study aimed to determine the mass fraction of metals in the different phases of the deinking process to optimize the cellulose pulp's quality and design healthy correct packaging products. In this research, the deinking flotation of laminated and non-laminated samples was carried out by the Ingede 11 method. As a result of the study, the mass fractions of metals in cellulose pulp were divided into four groups according to the mass fraction's increasing value and the metals' increasing electronegativity. The quantities of metals were analyzed using Inductively Coupled Mass Spectrometry (ICP-MS). The separation of metals from cellulose pulp is influenced by the presence of adhesives and the electronegativity of the metal. The results of the study show that the recycling process removes certain heavy metals very well, which indicates the good recycling potential of pharmaceutical cardboard samples.
ABSTRACT
This paper describes the design, construction and experimental testing of a single-joint manipulator arm actuated by pneumatic artificial muscles (PAMs) for the tasks of transporting and sorting work pieces. An antagonistic muscle pair is used in a rotational sense to produce a required torque on a pulley. The concept, operating principle and elementary properties of pneumatic muscle actuators are explained. Different conceptions of the system realizations are analyzed using the morphological-matrix conceptual design framework and top-rated solution was practically realized. A simplified, control-oriented mathematical model of the manipulator arm driven by PAMs and controlled with a proportional control valve is derived. The model is then used for a controller design process. Fluidic muscles have great potential for industrial applications and assembly automation to actuate new types of robots and manipulators. Their characteristics, such as compactness, high strength, high power-to-weight ratio, inherent safety and simplicity, are worthy features for advanced manipulation systems. The experiments were carried out on a practically realized manipulator actuated by a pair of muscle actuators set into an antagonistic configuration. The setup also includes an original solution for the subsystem to add work pieces in the working space of the manipulator.
