Збірники наукових праць ЦНТУ
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Item Розрахунок не зрівноважено утримуваних деталей захватними пристроями роботів(ЦНТУ, 2019) Павленко, І. І.; Годунко, М. О.; Павленко, И. И.; Годунко, М. О.; Pavlenko, I.; Hodunko, M.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.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 Особливості реалізації промисловими роботами механоскладальних технологій в гнучких виробничих комірках(КНТУ, 2015) Кирилович, В. А.; Kyrylovych, ValeriiНа підставі змістовної сутності та технологічної спільності застосування промислових роботів (ПР) при механоообробці та складанні обгрунтовується термін “роботизована механоскладальна технологія (РМСТ)”, дається її визначення. Розроблені формалізми структури РМСТ покладені в основу аналізу відношень між складовими РМСТ. Вказано на доцільність розглядати термін “траєкторія” щодо переміщення полюса схвата промислового робота, а термін “траєкторний простір” – щодо переміщення технологічного роботизованого комплекту. Aim of the paper is to highlight the substantive features of robotized mechanical assembly technologies that are invariant relatively manufacturing types and industry kinds, for further automated implementation. The main feature of robotized mechanical assembly technology is technologically ordered set of industry robot gripper movements. It is implemented on certain paths to certain parameters, such as the values of movements, velocities and accelerations of the each links of inductrial robot’s manipulation system. The said is the basis for the formation of trajectories that may be implemented by known reference points, by completely or partially smoothed trajectories. Mentioned above is formalized and it as the staging plan which was the basis for the further development and implementation of automated methods of choising of the optimal robotized mechanical assembly technology.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.Item Визначення кутів повороту ведучих ланок адаптивного захватного пристрою(КНТУ, 2014) Мажара, В. А.; Годунко, М. О.; Кислун, О. А.; Ковальчук, Є. В.; Mazhara, Vitaly; Godunko, Maksim; Kyslun, Оleg; Kovalchuk, EvgeniyВ статті розглядається методика визначення кутів повороту ведучих ланок захватного пристрою промислового робота, призначеного для затиску як призматичних, так і циліндричних деталей. The article presents a designed grip of the robot that is intended to be used for clamping both prismatic and cylindrical parts. The grip is adjusted to the mold (form, shape) of the clamped part by means of installing the clamping jaws in a parallel position when clamping prismatic pieces, and to their further turn while holding the cylindrical ones. The adaptability of this gripping device is being increased by raising the number of driving links, levers and their number of movability. (mobility). For giving the possibility of clamping working pieces of various classes it is necessary to provide the turn of four driving links at a certain angle by servodrives. The above mentioned methods have been worked out in order to determine such angles. The article deals with the calculation formulas for the angles corresponding to the main working conditions of the gripping unit. The carried out method is the first step to the implementation of the system of automatic control of such grippers. By further analysis of kinematic schemes of the grippers and studying the rotation (turning) angle effect of the leading units, the method described here opens the way to enhancement and invention of conceptually new constructions of the industrial robots’ grips.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.