Browsing by Author "Popruga, Pavel"
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Item Автоматизація структурного та кількісного аналізу кінематичних схем промислових роботів(КНТУ, 2015) Павленко, І. І.; Попруга, П. В.; Pavlenko, Ivan; Popruga, PavelВ статті розглянуто автоматизований структурний та кількісний аналіз кінематичних схем промислових роботів за допомогою створеного програмного модуля в середовищі Delphi. Представлено опис розроблених процедур для проведення запропонованого аналізу. Наведено переваги даного автоматизованого аналізу та програмного модуля. A significant amount of designs of industrial robots complicates a choice of expedient option. For the solution of the matter the special algorithm which is based on the analysis of kinematic schemes of industrial robots is created. Analyzing kinematic schemes it is possible to receive preliminary information on the movements work and its designs. For automation of algorithm the special program module in the environment of Delphi which works with the help of the developed procedures and data files is created. In article it is presented the automated structural analysis of kinematic schemes of industrial robots by means of the created program module. The description of the developed procedures for implementation of the considered analysis is submitted. It is induced advantages of this automated analysis and the program module. In a general view it is created such procedures: procedure of creation of the list of structural formulas of versions of schemes; procedure of definition of almost not carried out options; procedure of definition not of expedient options; procedure of definition of expedient options. For work of procedure data files, in which targeting of a condition on which kinematic schemes are analyzed are created. On the basis of the conducted automated structural researches of kinematic schemes of industrial robots, as conclusions, it should be noted: procedures, data files and flowcharts are developed for creation of structural formulas and their structural researches; the analysis of various versions of schemes of robots is made and the choice issue from them the most expedient options is resolved; on the developed software it is executed creation of kinematic schemes and their working zones according to the received results of researches.Item Алгоритм та програмний модуль побудови кінематичних схем промислових роботів(КНТУ, 2016) Павленко, І. І.; Попруга, П. В.; Pavlenko, Ivan; Popruga, PavelВ статті представлено розроблений алгоритм для побудови кінематичних схем промислового робота за допомогою створеного програмного модуля. Особливістю модуля є формування кінематичної схеми в автоматичному режимі з можливістю задання розмірів для кожної кінематичної пари схеми та переміщення цих пар по заданим параметрам руху, що дає змогу більш якісно вирішувати питання обґрунтованої розробки конструкції промислового робота. Industrial robots have high kinematic mobility of executive bodies that allows them to carry out difficult spatial movements and orientations of the details, which are subject to transportation. Preliminary representation about the movements, which are carried out by robots, can be received from kinematic schemes. A big variety of kinematic schemes complicates a choice of necessary expedient version of the scheme, and thereby and the most industrial robot. The developed algorithm for creation of kinematic schemes of the industrial robot by means of the created program module is presented in article. Feature of the module is formation of the kinematic scheme in the automatic mode, poses received from the analysis of structural formulas, or entered manually with possibility of a task of the sizes for each kinematic couple of the scheme and movement of these couples in the set movement parameters that work allows to resolve with higher quality issues of reasonable development of a design industrial. The developed program module allows constructing the kinematic scheme, which corresponds to a structural formula in the automatic mode. In addition, opportunity of creation of the kinematic scheme on given sizes is given preliminary by representation about the created industrial robot. One more of features of the program module is not only creation of the kinematic scheme, but also possibility of representation of movement of each kinematic couple according to the set movement parameters.Item Програмний аналіз варіантів кінематичних схем промислових роботів та їх робочих зон(КНТУ, 2014) Павленко, І. І.; Попруга, П. В.; Черновол, М. І.; Pavlenko, Ivan; Popruga, Pavel; Chernovol, MikhailВ статті розглянуто програмний аналіз кінематичних схем промислових роботів. Представлено розроблене програмне забезпечення для кількісного аналізу кінематичних схем з різними ступенями рухомості та виявлення доцільних варіантів по розробленому алгоритму. Також представлено додатковий алгоритм та програмне забезпечення для автоматичної побудова робочої зони кінематичної схеми робота. The purpose of this work is the quantitative analysis of variants of kinematic schemes of industrial robots for definition of expedient variants and the analysis of the obtained data on the basis of the created working zones. In article are presented the developed software for the quantitative analysis of kinematic schemes with various degrees of mobility and definition of expedient variants on earlier developed algorithm. It is also presented developed additional software and its algorithm. Feature of this appendix is automatic construction and the analysis of a working zone of the kinematic scheme on the set structural formula and parameters of motive opportunities of kinematic couples used in the scheme. The quantitative analysis of versions of kinematic schemes of industrial robots is carried out. Using the developed software the quantitative analysis of schemes and the analysis on working zones of industrial robots for various degrees of mobility is carried out, expedient versi ons of schemes are defined.