Техніка в сільськогосподарському виробництві, галузеве машинобудування, автоматизація. Випуск 28. - 2015

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    Автоматизація структурного та кількісного аналізу кінематичних схем промислових роботів
    (КНТУ, 2015) Павленко, І. І.; Попруга, П. В.; Pavlenko, Ivan; Popruga, Pavel
    В 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.