Розрахунок не зрівноважено утримуваних деталей захватними пристроями роботів
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Date
2019
Authors
Павленко, І. І.
Годунко, М. О.
Павленко, И. И.
Годунко, М. О.
Pavlenko, I.
Hodunko, M.
Journal Title
Journal ISSN
Volume Title
Publisher
ЦНТУ
Abstract
Виконано обґрунтування розрахунку сил затиску в захватному пристрої робота при утриманні деталей зі зміщеним центром мас. Виведено формули для розрахунку даних сил. Встановлено залежності між основними конструктивними характеристиками захватного пристрою та силами затиску. Выполнено обоснование расчета сил зажима в захватном устройстве робота при содержании деталей со смещенным центром тяжести. Выведены формулы для расчета данных сил. Установлены зависимости между основными конструктивными характеристиками захватного устройства и силами зажима. The substantiation of the calculation of the clamping forces in the gripping device of the robot with the maintenance of parts with an offset center of gravity. The formulas for calculating these forces are derived. Dependencies between the main design characteristics of the gripping device and the clamping forces are established.
Grippers are one of the responsible executive bodies of industrial robots. Their main feature is that they represent a finite part of the spatially unlocked hand of the robot, which must perform high-speed reciprocating (rotating) movements with the required accuracy. In this case, the grip must reliably hold the transported parts with a minimum of their mass. All this is possible when performing their exact calculations. In a large number of robots of capture operations, it is necessary to keep parts that are not evenly squeezed into it. This may take place, both during initial capture and during the cycle of the operation of work with the detail when it sets it on a machine where it is processed and gets a different shape and size. All these features lead to a change in the power load on the gripper, and, accordingly, to change the working capacity of its quality.
The first step in the study of these issues is to determine the required clamping forces of the retained parts. To do this, taking into account all baseline conditions, we compile a calculation scheme, where the detail is clamped with the capture with an asymmetric (not balanced) its placement. In earlier studies, it was found that in determining the forces of clamping of parts, according to such calculation schemes, there may be a condition where the number of complicated equations of equilibrium of the held part is less than the number of unknown clamping forces. Therefore, an additional condition was adopted for solving the task, when the minimum required clamping forces were determined, which then increased to the required stock factor. The same condition we accept in these calculations.
Description
Keywords
захватні пристрої, сили затиску, промисловий робот, захватные устройства, силы зажима, промышленный робот, gripping devices, clamping forces, industrial robot
Citation
Павленко, І. І. Розрахунок не зрівноважено утримуваних деталей захватними пристроями роботів / І. І. Павленко, М. О. Годунко // Центральноукраїнський науковий вісник. Технічні науки : зб. наук. пр. - Кропивницький : ЦНТУ, 2019. - Вип. 1 (32). - С. 202-210.