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- Autors
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Yaglinsky V. P., Gutyrya S. S.
- Issue
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Hoisting and transport equipment, 2022, №1(67)
- Pages
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4-16
- DOI
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10.15276/pidtt.1.67.2022.01
- Abstract
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For a set of typical series of industrial robots, the analysis of functional properties of manipulation systems was performed and the main operational and design parameters were identified, which reflect the technical level of products in the conditions of steady growth of consumer requirements and competitiveness of machine-building production. The main relationships of kinematic and dynamic characteristics of translational and rotational kinematic pairs of structural sequences of industrial robots are determined and their compliance with the criteria of criterion of similarity is established. Based on the theorems and methods of dimensional theory using the properties of homogeneous functions, an algorithm for creating criterion complexes that characterize the functional properties of speed and load capacity of manipulation systems of industrial robots has been developed. The criterion indicators for the model range of industrial robots were studied and it was found that with increasing range of industrial robots the load criterion for all robots decreases, and in the case of the same reach the value of the load criterion for medium and heavy robots is 6-8 times higher than for light robots. load capacity. The proposed criterion complexes of speed and load capacity are based on the passport data of typical structures of industrial robots and can be used to compare the technical level of existing structures and predict the prototypes created during the design and refinement.
- Keywords
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manipulation systems, criterion complexes, homogeneous functions, technical level
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