Mechatronic Approaches for Functional Structural Synthesis of Mechanical Systems of Industrial Robots

Abstract

The necessity of new approaches for structural synthesis of mechanical systems, which directly identify a limited number of structures that carry a potential for solving the technical problems and meet the specific requirements for the design of mechanical systems, mainly for specialised robots, is specified. The identified five types of kinematic chains (primary, parallel, secondary, additional and subsidiary), with different functionality, allow the synthesis of manipulators structures according to the defined goal tasks and specific functional requirements for hybrid systems, in particular specialised industrial robots. Two mechatronic approaches for functional structural synthesis of mechanical systems of industrial robots, where the main manipulation mechanism is a path generator, were introduced. A limited number of structures that meets the set of objectives and technical requirements to design mechanisms, is directly determined. Emphasis is placed on the tasks of passive (mechanical) control of manipulation systems associated with specialized robotics. Two mechatronic approaches for functional structural synthesis of mechanical systems of industrial robots, where the main manipulation mechanism is a motion generator, are introduced. A limited number of structures is directly defined that meets the set of technical objectives and requirements for the designed mechanisms. Emphasis is placed on the tasks of passive control of the manipulation systems associated with the specialized robotics.

Computer-Aided Choosing of an Optimal Structural Variant of a Robot for Extracting Castings from Die Casting Machines

“…Their operation and maintenance also require special qualifications, knowledge, and skills from staff. On the other hand, specialized robots offer opportunities to optimize these parameters [13,14].…”

“…Market analysis shows that the design and production of such specialized robots are current and promising, and their implementation represents a wide market niche, as thousands of non-automated casting machines are in operation worldwide. For example, OSKAR FRECH alone currently has more than 4000 machines sold that are not fully automated [13]. An additional market for the realization of the specialized robots is the tending to new machines that are being produced.…”

“…An analysis of the specialized literature shows a relatively small number of developments dedicated to the problem of choosing the optimal structural variant of robots for extracting castings [13][14][15]. The known publications also have some drawbacks.…”

Influence map: Determining the actuators’ influence in kinematic chains for mechanism design

“…A challenge still remaining in mechanism design is to identify promising kinematic structure according to the functional and design requirements. 7–20 One approach is to use structural characteristics to identify promising features automatically using a computer. 1,7,17,18,21–32 Among these structural characteristics are the connectivity, 21 variety, 24 redundancy, 26 degree-of-control, 26 and symmetry.…”