Investigation of the accuracy of the manipulator of the robotic complex constructed on the basis of cycloidal transmission

Abstract

The object of research is modern robotic systems used in hotspots. In their arsenal, such mobile works are equipped with manipulators with high-precision hinges, which provide accurate positioning of the gripper (object of manipulation). Considering ground-based robotic complexes with a wheel or caterpillar base, the implementation of the process of manipulation on a stationary basis, a number of problem areas were identified that affect the accuracy of positioning. In the course of research and analysis of modern robotic complexes, their circuit and design of components and mechanisms that provide the necessary qualities and parameters. The problem of developing high-precision hinges is central to the creation of efficient ground-based robotic systems. The methodology of kinematic research of rotary hinges of the manipulator for the ground robotic complex is stated. The analysis of influence of deformations of material of impellers of not involute transfer on accuracy of positioning of a final subject is carried out. A kinetostatic analysis of the manipulator circuit was performed and the maximum moments acting in the hinged units on the drive unit were determined, which allowed to make a quantitative assessment using the Solidworks software package. The mathematical model of construction of transfer and definition of accuracy of a rotary knot for a ground robotic complex, with use of cycloidal transfer without intermediate rolling bodies is investigated and developed. Mathematical modeling and taking into account the features of mechanical processes occurring in the manipulator, allows to increase the technical level of robotic complexes. Ways of improvement are defined for maintenance of a progressive design of the manipulator that not only will satisfy necessary technical characteristics, but also will allow to simplify manufacturing technology. Modern technologies and materials (stereolithography, carbon fiber, superhard materials) make it possible to implement advanced designs of spatial drive systems. Therefore, work in this direction is relevant, as robotic mechanical complexes for special purposes are widely used when performing work in emergencies.

Research of Dynamic Characteristics of Bearing Reducers of the TwinSpin Class in the Start-Up Phase and in the Initial Operating Hours

“…The problems of the research and design of the mathematical transmission model and the definition of the precision of the rotational node for a robotic system using a cycloidal transmission are dealt with in the scientific paper [5] by Strutynskyi and Semenchuk. The kinematics of the rotary unit, including the bearing unit and the cycloid transmission, were examined.…”

Study of linear and angular oscillations of the moving platform of the ground robotic complex

“…Результати розрахунків можуть бути застосовані у складі системи керування. Врахування особливостей робочих процесів роботизованого комплексу, що містить маніпулятор дозволяє суттєво підвищити точність при переміщенні об'єктів [10].…”

Multibody Dynamics Model of the Cycloidal Gearbox, Implemented in Fortran for Analysis of Dynamic Parameters Influenced by the Backlash as a Design Tolerance

“…Studies in the field of cycloidal gearbox engineering deal with the subject of design issues [7][8][9][10][11][12][13], finite element analysis of the cycloidal gearbox parts [7,[13][14][15][16][17], kinematical analysis [16,18], applications in robotics [12,16,17,19], friction, lubrication and machining [20][21][22][23][24], measurements [25], efficiency [26,27], optimisation [8,28], contact modelling [29][30][31][32], backlash and design tolerances [9,30,[33][34][35] or vibration and dynamics [31,32,[36][37][38][39][40].…”