Geometrical parametres of the adaptive unit for industrial robots’ gripper calculation

Виконано аналіз конструктивних особливостей вузла адаптації схвата промислового робота. У результаті аналізу виявлено ряд залежностей геометричних параметрів конструктивних елементів компенсаторів кутових похибок від величин похибок позиціонування схватів промислових роботів. Наведено аналітичні вирази для розрахунку вказаних конструктивних параметрів.The need to carry out investigations on the raise of accuracy and decrease of negative after-effect of pose error for the principal and auxiliary technical equipment is caused by the availability of errors in the robotized installation. One of the possible methods for negative influence decrease arising in the robotized technological service of facilities, which is industrial robots gripper adaptation, is considered in the article. Industrial robots’ gripper adaptation expects to apply additional facilities, so-called “Industrial Robots’ Adaptive Unit”. Compliance of the Adaptive Unit for Industrial Robots’ Grippers compensative element is achieved due to using of compensative spring elements, which are included into the compliant mechanisms construction. Using of the linear and angular errors compensator in the Adaptive Unit for Industrial Robots’ Grippers allows to overcome negative force-torque influence which arises at the moment of handling object fixing in the working position device. In the article the analysis of the constructive peculiarities of the Adaptive Unit for Industrial Robots’ Grippers has been carried out. As the analysis result dependencies of the angular error compensator constructive elements geometrical parameters on the industrial robots pose errors have been found. The analytical expressions for calculation of the mentioned construction parameters of the Adaptive Unit for Industrial Robots’ Grippers have been presented. Analytical dependences, which are connected with the geometric parameters of the Adaptive Unit for Industrial Robots’ Grippers constructive elements and take into account the length of handling object and distance of industrial robots’ grippers pole from the left end face of the handling object in its coordinate system, have been found. The obtained results make possible to calculate and choose the Adaptive Unit for Industrial Robots’ Grippers, which is necessary for certain conditions of mechanical assembly manufacturing

Computer-aided forming of working positions service routes of industrial robots

Розглянуто задачу автоматизованого формування технологічного маршруту обслуговування робочих позицій (ТМОРП) промисловими роботами (ПР) в межах механообробних гнучких виробничих комірок (ГВК). У роботі представлено програмну реалізацію задач формування ТМОРП та наступного моделювання його відпрацювання, що дозволяє визначати параметри продуктивності ГВК, які проектуються, та формувати склад дій ПР при їх роботі.The task of computer-aided forming of working positions technological service route (WPTSR) of industrial robots (IR) in mechanoprocessing flexible manufacturing cells (FMC) is considered. The software realization of the tasks of WPTSR forming and following simulation of its processing are presented in this work. This allows to determine the productivity parameters of FMC being designed and to form the IR actions sequences during FMC work

The software for automation of managerial process by the choice of devices of orientation fis flexible integrated systems

Запропоновано програмне забезпечення для автоматизації процесу вибору пристроїв орієнтування гнучких інтегрованих систем, що базується на попередньо запропонованій методиці автоматизованого вибору пристроїв орієнтування як основі системи підтримки прийняття рішень для автоматизації процесу керування вибором пристроїв орієнтування. У вказаному програмному забезпеченні використовується комплекс готових універсальних прикладних програм, які не вимагають додаткових організаційно-фінансових витрат, пов’язаних з їх освоєнням та придбанням.The software for automation of process of a choice of devices of orientation of the flexible integrated systems which is based on preliminary offered technique of the automated choice of devices of orientation as to a basis of system of support of decision-making for automation of managerial process by a choice of devices of orientation is offered. In the specified software the complex of ready universal applied programs which is used do not demand the additional organizational and financial expenses connected with their development and acquisition

Development of a New Method for Automated Selection of Robotic Mechanic-assembly Technologies Based on the Technical and Economic Criteria

A new method for the automated selection of robotic mechanic-assembly technologies according to technical and economic criteria was proposed. The choice is made on the known set of robotized mechanic assembly technologies, components of the system of technical and economic criteria, analyzed methods for depreciation expense of residual value of industrial robots and other organizational and technological input data. The content of the latter is: the period of operation of industrial robots in flexible production cells, period and volume of production, quantity and volume of product batches for launch in manufacturing.The process of selecting robotic mechanic-assembly technologies is performed at the minimum value of one of the user-selected technical and economic criteria from their pre-developed system. Each of the criteria with different degree of detailing reproduces the content of the «robotic» component of the cost of production of a product unit and is determined by using only industrial robots.The performed formalization of the selection process made it possible to develop algorithmic support, which underlies functioning of the developed computer program in the software environment MS Excel. The performance of a computer program was tested on the examples that on the set of the synthesized robotic mechanic-assembly selection technologies differ only by varying data on the organizational and technological features of using industrial robots in mechanic-assembly flexible production cells.The analysis of the obtained results showed that the selection criterion, determined by the use of the straight-line method of depreciation expense of industrial robots, regardless of the number of their useful years, is the smallest criterion for the examined examples under equal conditions.The mathematical generalizations were formed and the recommendations on using the methods of depreciation expense of the cost of industrial robot, which determine their residual cost when calculating selection criteria, were given.The method for the selection of robotic mechanic-assembly technologies is invariant in the context of the possibility of its use in different countries with different regulatory base concerning the existing methods of depreciation expense for determining residual value of industrial robot