A complex mathematical model of dynamic processes in vibrational mounting device for assembly robot is given. Such mathematical model makes it possible to research the starting process of the mechanism, the steady-state regimes and spatial motions of any points of the assembling part. A rational model for the motor with unbalance at controlled starting is proposed, which lead to spatial oscillations of the grab and part. With the help of ideas of the sensitivity theory the algorithm for parameters synthesis of the device by using natural modes of oscillations is developed. The following results are presented: calculations and experiments of free oscillations; synthesis of device parameters; studies of dynamic processes at the mechanism starting and at steady-state regimes, spatial motions of the characteristic points for assembling part.
Słowa kluczowe: dynamical process, vibrational mounting device, parameters synthesis, sensitivity theory, motor, unbalance.
Podano złożony model matematyczny procesów dynamicznych w wibracyjnym urządzeniu dla robota montażowego. Taki model pozwala badać proces uruchomienia mechanizmu, tryby w stanie ustalonym i ruchy przestrzenne dowolnych punktów części złożonej. Zaproponowano model silnika z niewyważeniem przy kontrolowanym starcie, który prowadzi do przestrzennych oscylacji chwytaka i części. Za pomocą koncepcji teorii wrażliwości opracowano algorytm syntezy parametrów urządzenia za pomocą naturalnych trybów oscylacji.
Keywords: proces dynamiczny, wibracyjne urządzenie montażowe, synteza parametrów, teoria wrażliwości, silnik, niewyważenie.
The problem of assembly automating by using of robots (manipulators) for increasing labor productivity, releasing hands, improving the work quality, as well as performing hazardous for health, physically heavy and monotonous work is actual for different industries. One of the promising directions in this problem solving is the use of uncontrolled, in particular, vibrational assembled devices. It’s using allow to abandon expensive sensors and servo drives at the assembly process even for non-axisymmetric parts without chamfers, does not impose high demands on the rigidity of the entire robot design. The assembly is as follows. The robot gripper "roughly" brings the assembling part, which is installed in the grab of the vibrational assembling device, to the connection point with another part (for example, a plunger to the plunger barrel). The assembling device is turn on, the part with the grab starts to do some spatial oscillations, and the parts are mated, even though the position of the assembling part was initially inaccurate. Spatial oscillations of the grab and parts are given by an unbalanced motor, which mounted on the assembling device. In Fig. 1 shows the assembly device with a vibrational mounting mechanism. In paper  mathematical models of devices for robots with low-frequency vibrations were created. Paper  is proposed the algorithms developments for the functioning of assembly mechanisms in shipbuilding. Paper  is devoted to dynamic processes simulation at starting process of vibrational mechanisms. Features of sensors and servo drive using are analyzed in paper , adaptive automatic grabs are considered in [5, 6]. An analysis of the design features of vibrational mounting devices is given in paper . The simplest methods of parameters choosing for mechanisms are also presented there. Dynamic processes simulation in some devices with unbalanced vibro drives is devoted papers [8, 9], electroma [...]
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