Open AccessАНАЛИЗ УДЕРЖИВАЮЩИХ УСИЛИЙ СХВАТА МАНИПУЛЯТОРА
Author(s) -
Наталья Сергеевна Ащепкова
Publication year - 2019
Publication title -
world science/world science
Language(s) - English
Resource type - Journals
eISSN - 2414-6404
pISSN - 2413-1032
DOI - 10.31435/rsglobal_ws/30112019/6760
Subject(s) - trajectory , position (finance) , robotic arm , computer science , control theory (sociology) , mechanical engineering , engineering , artificial intelligence , physics , control (management) , finance , astronomy , economics
The technological section of manufacturing a complex part is considered, the robot is used to perform auxiliary operations. The trajectory of the manipulator contains the nodal points S0, ..., S6.At points S0, ..., S6, it is necessary to provide a gripping force so that the manipulation object does not slip out of the gripping device. In this case, it is impossible to damage the outer surface of the part, which is contact while assembling the product. In addition, it is necessary to take into account the change in the shape and diameter of the workpiece both within the assortment of typical parts and during processing.The inverse problem of the manipulator’s position at the nodal points of the trajectory S0, ..., S6 is solved; the coordinates, velocities and accelerations of the gripping pole are determined at the nodal points of the trajectory S0, ..., S6 when implementing the given laws of change in the generalized coordinates; the values of the necessary holding force of the grip at the nodal points of the trajectory S0, ..., S6 are calculated.The analysis of the necessary holding forces of the grip allows to determine the gripping force, during the simulation of the manipulator's movement. This gripping force will ensure reliable fixation of the part in the gripper without damaging its outer surface.