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Information × Registration Number 0219U001723, 0116U005075 , R & D reports Title Developing models for optimizing the orientation of the hand of an industrial robot popup.stage_title Head Savkiv Volodimir Bogdanovich, Registration Date 21-02-2019 Organization Ternopil National Technical Ivan Puluj University popup.description2 The analysis of constructions of capturing devices and methods of planning trajectories of cargo transportation by manipulators is carried out in order to ensure the stability of their containment under different parameters of motion. However, the question of modeling the dynamic interaction of trapping devices with cargo in the process of carrying out an industrial robotic loading and unloading operations has been studied insufficiently. Technical solutions and approaches to reduce energy consumption for handling cargo by capturing devices and enhancing the reliability of maintenance are virtually unexplored. The dissertation is devoted to research of dynamic interaction of jet grabbing devices and cargo during loading and unloading operations. The mathematical model of dynamic interaction of the jet grab device with the cargo during its transport on a straight line and propeller trajectory is developed, optimal orientation is determined, which will provide the minimum energy consumption of the jet trapping device during loading and unloading operations. The influence of mass-dimensional characteristics of the cargo, parameters of the base elements of jet trapping devices and modes of movement on the minimum necessary load retention force during loading and unloading operations is investigated. Experimental studies of the transportation process were conducted to verify the reliability of the developed models and the method of optimizing the orientation of the capture device. Statistical analysis has shown that the determination coefficient between theoretical and experimental data, with variations in the values ??of acceleration and speed, is 0.95, the relative error of 4.65%. The energy efficiency of cargo transportation process with the use of jet grab devices for various schemes of loading and unloading operations is explored. So for a straight-line trajectory, using the orientation modeling method will reduce energy costs by 15-52% depending on the capture method, and for the scroll trajectory 41%. The design schemes of the pneumatic gripping devices, which provide increased lifting capacity and stability of the cargo handling during loading and unloading operations, are improved. Product Description popup.authors Козбур Ігор Романович Михайлишин Михайло Стахович Михайлишин Роман Ігорович Федорів П.С. popup.nrat_date 2020-04-02 Close