Розробка методики силового розрахунку вертикально орієнтованого захватного пристрою
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Date
2023
Authors
Годунко, М. О.
Кислун, О. А.
Мажара, В. А.
Щербина, В. К.
Кравченко, Р. А.
Клюшкін, В. В.
Hodunko, M.
Kyslun, О.
Mazhara, V.
Shcherbyna, V.
Journal Title
Journal ISSN
Volume Title
Publisher
ЦНТУ
Abstract
Виконано обґрунтування силового розрахунку важільних захватних пристроїв роботів із
врахуванням їх конструктивних параметрів та умов функціонування. Виведено рівняння для розрахунку
сил затиску в захватному пристрої та на основі цих рівнянь побудовано залежності сил затиску від
приведених умов. На основі побудованих залежностей зроблено висновки та надано відповідні
рекомендації по виконанню та функціонуванню захватних пристроїв роботів. Based on the main purpose of industrial robots, their gripping devices must provide reliable clamping of
the parts they hold in different directions and modes of their movement and perform the necessary operations
(installation, connection, pressing of parts, etc.). The process of transportation and positioning itself must be
carried out in compliance with the following requirements: the maximum appropriate speed or acceleration;
necessary accuracy; minimal force loads on the robot grip and structure; the necessary quality of the operation;
minimum energy requirements; compliance with the necessary requirements for the safety of operations, etc.
In addition, the gripping devices of robots should be versatile enough to be able to work with different
parts in shape and size, as well as perform maintenance of different equipment, working with different devices,
etc. Therefore, functional studies of gripping devices are quite important. One of the directions of such research
is the creation of a methodology for force calculations taking into account the conditions discussed above,
therefore the task is relevant today.
During the period of existence and development of industrial robotics, the issue of force calculation of
their gripping devices has always been relevant due to the fact that this is a working body that is constantly in
contact with production objects of various shapes, materials and properties. In the process of manipulating
production objects, they must not be damaged, while the robot's work cycle must also be precisely worked out in
a certain period of time according to the production cycle. All these issues were considered most thoroughly in
the studies of I.I. Pavlenka [1, 4], ShimonY. Nof, G.J. Monkman [3], Ya.I. Prots [2] and others. Particular
attention was paid to the power of gripping devices in the works of I.I. Pavlenko. These studies are taken as the
basis of the idea of substantiating the operating conditions of gripping devices and creating a methodology,
different approaches to force calculation with its subsequent use in the design of these executive modules, as
well as in the correcting programs of the industrial robot.
Thus, the purpose of the scientific work is to study the power characteristics of the gripping device of an
industrial robot under different conditions of its operation, to derive formulas for determining the minimum
necessary clamping forces of the part, and to build the dependence of the calculated forces on the design
characteristics of the gripper.
It is worth noting that the relevance of this issue has increased many times today. This is due to the use of
robotics not only in production, but also for military purposes. Industrial robots (manipulators) are used in the
machine-building industry, which serve the main technological equipment, and in military affairs - mobile robots
with built-in manipulators for taking dangerous objects. The method of force calculation proposed by us consists
in determining the minimum necessary clamping forces.
Description
Keywords
захватні пристрої, сумарні сили затиску, сили затиску, промислові роботи, gripping devices, clamping forces, industrial works, total clamping forces
Citation
Розробка методики силового розрахунку вертикально орієнтованого захватного пристрою / М. О. Годунко, О. А. Кислун, В. А.Мажара [та ін.] // Центральноукраїнський науковий вісник. Технічні науки : зб. наук. пр. - Кропивницький : ЦНТУ, 2023. - Вип. 7(38). - Ч. 2. - С. 27-33.