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Registration Number

0225U003929, (0125U001641) , R & D reports

Title

Improving the functional characteristics of gripping devices of robot manipulators for clamping unbalanced parts

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Покращення функціональних характеристик захватних пристроїв роботів-маніпуляторів для затиску не зрівноважено утримуваних деталей

Head

Hodunko Maksym O., Кандидат технічних наук

Registration Date

15-09-2025

Organization

Central Ukrainian National Technical University

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Improving the functional characteristics of gripping devices of robot manipulators for clamping unbalanced parts in the production conditions of PrJSC "Hydrosila LEDA" and their use in conditions of increased requirements for accuracy and quality of processing, increasing equipment productivity, changing the nomenclature of parts.

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Object of Research: robotic turning complexes with industrial robot manipulators and their gripping devices for mechanical engineering production. The aim of the research work is to development of a methodology for force calculation of an industrial robot manipulator gripper, taking into account the clamping characteristics of unbalanced workpieces. It also includes determining the impact of structural parameters of the gripping device on the clamping forces and establishing dependencies of these forces on all identified influencing factors. The justification of the force and functional characteristics of the gripping devices of manipulator robots was aimed at improving their quality indicators. As a result, the following outcomes were achieved: the operational features of the gripping devices of robots were investigated, considering the factors affecting the clamping forces of the workpiece. Based on the conducted research, approaches for determining clamping forces were substantiated, considering the maximum number of conditions for clamping the workpiece by the robot, and equations were derived for calculating the minimally necessary clamping forces of the workpiece, along with the corresponding dependencies. A proposed methodology for the force calculation of workpiece clamping was developed, with established dependencies of the clamping forces on the structural parameters of the grip, as well as corresponding recommendations for designing these robotic devices and their application in manufacturing and servicing the respective equipment. The results obtained during the research work formed the basis of scientific and methodological recommendations for improving the design of gripping devices of manipulator robots and further production at PJSC Hydrosila LEDA.

Product Description

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Kravchenko Roman A.

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2025-09-15