The article presents a model, tools, methodology and results of identifying special provisions when planning the movement of a parallel manipulator such as the Gough-Stewart platform. Special positions are understood as positions having geometric uncertainty, singularity. Singular positions are estimated by analyzing the Jacobian matrix using its singular value decomposition. The calculation of the Jacobi matrix and its singular values is performed using special libraries of the high-level Python programming language. The presence of special positions in the workspace is analyzed using the dexterity index, which characterizes the ratios of the singular values of the singular value decomposition of the Jacobian matrix. A series of computational experiments are carried out to calculate the dexterity index, identify and analyze special positions in the working area. The results of a computational experiment for various design versions of the platform, which differ in the ratio of the radii of the movable platform and the fixed base, are presented. The analysis of the characteristic features of the formation of singularity zones in their working zones is carried out and design options are identified that have the maximum dexterity index of the working area. The presented approach is applicable in the framework of the development, modernization, optimization of structural elements of parallel structure manipulators.
The article presents a methodology for forecasting and analyzing the effectiveness of the use of flexible production systems and robotic systems. Simulation modeling and queuing theory are used as analysis tools. The production program for the release of products, which has a certain nomenclature and production volumes, is represented by a flow of applications. The production process is modeled over time and various technological situations are predicted. The computational experiment is conducted on the basis of the developed program using the object-oriented programming paradigm in Python. A probabilistic model of the dependence of the quality indicators of the line on the production program for manufacturing parts is implemented. Variants of production programs are presented in the form of combinations of dispersion fields of stages of the life cycle: frequency of receipt of parts and pro-cessing time on machine tools. The frequency of receipt of workpieces on the processing line is ap-proximated by an exponential law; the time of mechanical processing on machines is approximated by the law of normal distribution. A number of series of computational experiments have been carried out and their results have been analyzed, which characterize the stability of the line operation through the values of quality indicators: changeable loading of machine tools, loading of a parts accumulator, the probability of its overflow. The main regularities are revealed that provide high indicators of the shift loading of equipment, as well as the factors leading to their decrease.
The article presents a technique for modeling the operation of the parallel structure mechanism - the Hugh-Stewart robotic platform using a virtual prototype. The MSC Adams software package and the high-level general-purpose object-oriented programming language Python were used as modeling tools. The digital layout, which has the properties of a parameterized simulation model, is built in the MSC Adams software package. The Python programming language is used as an alternative to the Adams View internal command language for creating and iteratively modifying modeling objects in Adams. The proposed implementation of the Python-Adams interface in the form of special procedures and functions automates the execution of a computational experiment and allows solving the problem of optimizing structural elements and finding the optimal geometric design of the hexapod in accordance with the selected optimality criteria by conducting a series of experiments consisting in sequential multiple changes in geometric parameters, followed by simulation model and analysis of the results in order to find design options that meet the specified criteria. The technique was tested on the example of optimizing the diameter of the platform according to the criterion of minimizing the effort expended when moving along a given trajectory. The results of a computational experiment are also presented to determine the dynamic parameters (forces, moments of forces) in the structural elements when the platform moves along a complex trajectory, to identify undesirable positions in which peak loads occur.
The article presents the methods and results of the analysis of the movement of a modeling manipulator such as the Hugh-Stewart platform using Adams-Matlab in order to check and develop a possible trajectory of the working body. Application of Matlab Simulink for solving kinematics problems: determining the extension length of rods along a given trajectory of the movement of the working body. A feature of the Simulink application scheme is the export of physical and mechanical parameters of a solid model from Adams. Mutual integration of Matlab Simulink and Adams View evaluate the implementation of the possibility of implementing a kinematic, comprehensive and force analysis of the mechanism, taking into account its design features due to the use of an apparent prototype. The proposed method of joint modeling is presented in the form of a detailed description of the content of Simulink circuit blocks, their interaction in modeling, the exact mathematical apparatus and the conditions for implementing mutual thoroughness of the Matlab and Adams software packages. The technique was tested on the ascent from constructive platforms while moving along a sexual character such as a given trajectory. The results of a computational experiment are proposed and an analysis is made of the coordinate correspondence of the actual trajectory obtained as a result of modeling in joint simulation with the initial given trajectory for various types of motion.
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