Structural and kinematic analysis of pantograph-type manipulator with three degrees of freedom

Korendiy, Vitaliy; Zinko, Roman; Cherevko, Yurii

doi:10.23939/ujmems2019.02.068

Cited by 2 publications

(2 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Використання електромеханічних трансмісій дозволяє використовувати трансмісію без кообки передач, що знижує собівартість, підвищує маневреність та надійність [8][9][10][11]. Момент швидості на валу двигуна при забезпеченні машиною технологічних процесів відрізняється нестаільністю і змінюється в часі на 40-50 % [10].…”

Section: аналіз літературних джерелunclassified

Frequency analysis of the shaft of the electromechanical drive of the small mobile robot

Zinko¹

2022

ISTCIPA

Self Cite

View full text Add to dashboard Cite

Problem statement and the research purpose. The implementation and use of mobile robots in the most diverse spheres of human activity is currently an urgent task. At the same time, ensuring their reliable operation and functioning determines their effectiveness to a certain extent. Using the appropriate calculations during the designing process of various machines, in particular of mobile robots, it is possible to increase the reliability and reduce the material consumption of the developed machine prototypes, and therefore to reduce the cost of its production and maintenance. Methodology of the study. For a small mobile robot with an electromechanical transmission, a number of calculations were carried out according to the developed methodology. The latter contains geometric, kinematic, dynamic, energy, technical and economic calculations, strength and rigidity analysis, and modal analysis of resonance frequencies of oscillations of the workpiece being designed. Results of the investigations. On the basis of the kinematic diagram of the robot’s electromechanical transmission, a solid-state model of the traction (driving) sprocket shaft of the crawler (track-type, caterpillar) drive was developed, for which the necessary safety assurance factor of the shaft material was determined on the basis of the schematized (linearized) Serensen-Kinasoshvili diagram of the critical stresses. Scientific novelty. The article presents an example of a modal analysis of a designed robot’s transmission shaft and determines the resonance frequencies of its oscillations. It was established that the most dangerous resonant frequencies for the designed shaft are equal to 11 Hz, 170 Hz, and 914 Hz. Practical value of the results. The developed technique can be effectively implemented while designing new experimental and industrial prototypes of mobile robots. Scopes of further investigations on the subject of the paper. Further research can be focused on the development of a complex methodology for calculating and designing the electromechanical drives of mobile robots taking into account geometric, kinematic, dynamic, energy, technical and economic calculations.

show abstract

Section: аналіз літературних джерелunclassified

Frequency analysis of the shaft of the electromechanical drive of the small mobile robot

Zinko¹

2022

ISTCIPA

Self Cite

View full text Add to dashboard Cite

show abstract

“…The paper [9] extends the obtained results to modelling and simulation of the robot motion. In [10], there was performed the structural and kinematic analysis of the pantograph-type manipulator with three degrees of freedom used for conducting the prescribed technological operations. The paper [11] was dedicated to improvement of the design parameters of the pneumatically-driven orthogonal robot able to perform rectilinear locomotion (Fig.…”

Section: Review Of Modern Information Sources On the Subject Of The Papermentioning

confidence: 99%

Modelling and simulation of pneumatic system operation of mobile robot

Korendiy¹,

Kachur²,

Havrylchenko³

et al. 2020

Ukr. j. mech. eng. mater. sci.

Self Cite

View full text Add to dashboard Cite

Problem statement. Mobile robots are currently of significant interest among researchers and designers all over the world. One of the prospective drives of such robots is equipped by a pneumatically operated orthogonal system. The processes of development and improvement of orthogonal walking robots are significantly constrained because of the lack of an open-access comprehensive scientific and theoretical framework for calculating and designing of the energy-efficient and environmental-friendly pneumatic walking drives. Purpose. The main purpose of this research consists in the kinematic analysis, motion modelling and pneumatic system simulation of the mobile robot with an orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical modelling of the robot motion is conducted in MathCad software. The computer simulation of the robot kinematics is performed using SolidWorks software. The operational characteristics of the robot’s pneumatic system are investigated in Festo FluidSim software. Findings (results) and originality (novelty). The improved design of the mobile robot equipped by the orthogonal walking drive and turning mechanism is thoroughly investigated. The motion equations of the orthogonal walking drive are deduced, and the graphical dependencies describing the trajectories (paths) of the robot’s feet and body are constructed. The pneumatically operated system ensuring the robot rectilinear and curvilinear locomotion is substantiated. Practical value. The proposed design of the walking robot can be used while developing industrial (production) prototypes of mobile robotic systems intended for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is expedient to design the devices for changing the robot locomotion speed and controlling the lifting height of its feet.

show abstract

Structural and kinematic analysis of pantograph-type manipulator with three degrees of freedom

Cited by 2 publications

References 4 publications

Frequency analysis of the shaft of the electromechanical drive of the small mobile robot

Frequency analysis of the shaft of the electromechanical drive of the small mobile robot

Modelling and simulation of pneumatic system operation of mobile robot

Contact Info

Product

Resources

About