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 industrialirigiditatedeplasarirobotul de tip SCARArobotul 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 robotsstiffness/rigiditymovementrobot type SCARAtype robot Fanuc LR Mate 100iB. industrial.
Din același număr
- IMPACTUL CUTREMURELOR BANATENE ASUPRA CONSTRUCTIILOR DIN TIMISOARA
- DEZVOLTAREA ORIENTATA PE ACTIUNI A SISTEMELOR DE SISTEME MECATRONICE SI ROBOTICE
- INVATAMANTUL ROMANESC, INCOTRO ?
- ANALIZA STATICA A TENSIUNILOR SI DEFORMATIILOR INTR-O ADAPATOARE UTILIZATA IN ZOOTEHNIE
- EDUCATIE - INGINERIE - ARHITECTURA
- FORMAREA CONTINUA SI INGINERIA
- PERFECTIONAREA PREGATIRII INGINERESTI IN DOMENIUL ACTIONARILOR HIDRAULICE SI PNEUMATICE
- THE IMPACT OF SEVERAL PARAMETERS ON RECEIVED SIGNAL STRENGTH IN INDOOR ENVIRONMENT
- OFERTA EDUCATIONALA IN DOMENIUL INGINERESC CORELATA CU INTEGRAREA EUROPEANA A ROMANIEI
- GLOBALIZAREA: ISTORIC SI TENDINTE
- INGINERIA FILTRELOR ACTIVE RC SI ZGOMOTUL ELECTRONIC
- SYSTEM’S METHODS REVERSION CONTROLLABILITY OF THE AIRCRAFT ABNORMAL CASES DURING FLIGHT