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 method for modeling the kinematic and dynamic parameters of the robot manipulator model KUKA KR 6 R900-2. The simulation is performed using a virtual prototype of a robot designed in the KOMPAS 3-D computer-aided design system and exported to the MSC Adams software package. The prototype of the robot is represented by idealized parts corresponding to the real links of the structure. The joints of the links are implemented by articulated joints. Various options of the robot working out a given trajectory of movement with varying the angular velocity of its turns and the applied load of the potential load are investigated: the maximum speed at the maximum weight of the load, the nominal speed at the nominal weight of the load and the minimum speed at the minimum weight of the load. The specified trajectory of movement is divided into separate stages, a certain set of workloads is applied during the simulation in each. The simulation is carried out in a three-coordinate space. The result of the simulation is kinematic parameters, such as movement, speed, acceleration, and dynamic parameters – moments in the robot's joints. The obtained results allow to perform a comparative analysis of the operating loads at different stages of the trajectory, to identify unfavorable conditions, such as critical peak values of accelerations and emerging moments of forces
This article discusses and analyzes mechanisms based on the principles of parallel kinematics, designed to perform various technological actions, with the movement of the executive body along complex spatial trajectories. Mechanisms with parallel structures have wide possibilities for solving various problems of application of equipment and technologies. Promising are the tasks associated with the use of mobile bases in various simulators to gain skills in controlling equipment (aircraft, cars, specialized military equipment). To conduct research on kinematic and dynamic characteristics, a digital layout of the platform has been developed – a parameterized 3D model in a CAD system. The platform represents a system with six degrees of mobility, which are implemented on the basis of a mechanism with a parallel structure. A description of a dynamic simulation model with six degrees of mobility developed using the MSC Adams software environment is given. The model is intended for research at the stage of design work in the development of simulators of various vehicles. The developed dynamic model was tested in order to implement a methodology for conducting research on the kinematic and dynamic characteristics of the platform based on simulation modeling. The results determining the capabilities of the model for determining the dynamic and force parameters in individual elements of the platform at the specified geometric parameters of the platform design are presented. The methodology of studying the digital layout of the platform by simulation modeling consisted in the execution of the accepted trajectories by the model, taking into account the technical characteristics of the actuators. At the same time, certain dynamic indicators were recorded and processed. As a result, graphs of changes in velocities and accelerations of the center of mass, as well as force characteristics (the sum of forces applied to the body in the hinge) when performing the corresponding trajectories are constructed.
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