DETERMINAREA RIGIDITATII UNOR ROBOTI INDUSTRIALI

Autor/autori: Ing. Mihaela SIMION, Sef lucr. dr. ing. Ioan Adrian BOTEAN, Prof. em. dr. ing. Mircea BEJAN

Rezumat: Constructia robotilor industriali trebuie sa raspunda cerintelor functionale de realizare a cinematicii impuse (precizia de pozitionare, viteza de deplasare), a preluarii sarcinii in conditii dinamice, a unei bune fiabilitati, a lucrului in medii nocive pentru om. Cresterea rigiditatii in lanturile cinematice se poate obtine prin eliminarea jocurilor si introducerea pretensionarilor la transmisii. Rigiditatea favorizeaza rapiditatea comenzilor si a actionarilor si precizia de pozitionare. Articolul prezinta notiuni vizand rigiditatea si posibilitatea determinarii acesteia pe doua tipuri de roboti industriali, robotul de tip SCARA si robotul industrial Fanuc LR Mate 100iB. S-au determinat experimental deplasarile in unele puncte pentru doua structuri de robot SCARA: robot 3D (prototip) si 2D (model plan) si analitic, pe baza legilor de similitudine, s-au calculat deplasarile (si tensiunile) structurii 3D, in functie de valorile experimentale ale acestora obtinute pentru modelul plan. Studiul numeric, pentru robotul industrial serial Fanuc LR MATE 100iB, s-a realizat in regim static, in scopul determinarii deplasarilor (si tensiunilor von Mises maxime) pentru pozitia luata in studiu la nivel global. Pentru realizarea studiului numeric finit se pleaca de la baza robotului, adaugand pe rand cate un modul din componenta robotului, obtinandu-se in final, distributia globala a deplasarilor (si a tensiunilor).

Cuvinte cheie: roboti industriali, rigiditate, deplasari, robotul de tip SCARA, robotul industrial Fanuc LR Mate 100iB


Abstract: Robots construction industry must respond to the functional achievement imposed on kinematics (precision positioning, speed), to take over the load in dynamic conditions, a good fiabilit??i, a work in environments which are harmful to humans. Increase stiffness the kinematic chains can be achieved through the elimination of the gaming and placing preloaders transmissions. Stiffness contributes to your keystrokes into the orders and the rapidity and precision positioning. Discusses issues to its rigidity and the possibility of determining on two types of industrial robots, SCARA-type robot and industrial robot Fanuc LR Mate 100iB. Have been determined experimentally in some points trips for two different robot SCARA robot: the prototype 3D and 2D (plane) and analytically, based on the laws of similarity, the trips were calculated (and tension) 3D structure, depending on the experimental values obtained for model of their plan. Numerical study for industrial robot Fanuc LR MATE 100iB serial, was static, in order to determine the movements (and maximum von Mises stresses) to the position taken in the global study. Numerical study on completion it is finished using the robot, adding one at a time from the robot mode, yielding to the speculations of movements (and tension).

Keywords: industrial robots, stiffness/rigidity, movement, robot type SCARA, type robot Fanuc LR Mate 100iB. industrial.

 

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