Матеріали конференцій
Постійне посилання колекціїhttps://dspace.nuft.edu.ua/handle/123456789/7498
Переглянути
3 результатів
Результати пошуку
Документ Quantification of a mechatronic pneumatic gripping system for a multi-link robot manipulator(2023) Yemelianov, Dmytro; Shevchenko, Serhii; Kryvoplias-Volodina, LiudmylaThe basis of the work is the tasks related to the synthesis of working bodies for moving artificial food, and the development of a control program for them based on PLC - namely, pneumatic grippers. An urgent task was also to ensure the movement of products processed by a robot manipulator according to the given law of movement. Based on the study of the dynamic characteristics of the drive and the control system of the power part of the position electro-pneumatic drive. Mathematical and computer modeling methods, methods of solving ordinary differential equations and partial differential equations, correlation analysis method are used. Analytical dependencies were obtained for controlling the drive of a robot-manipulator with a pneumatically controlled gripper to determine the kinematic parameters of the product movement during processing. The dynamic model of the pneumatic gripper and its drive was mathematically tested. The law of motion of the final link of the manipulator, close to the optimal speed, was obtained. On the basis of the research calculations and the analysis of the functional mechatronic modules, the energy efficiency of the proposed control scheme of the power part of the positional pneumatic drive was confirmed. The result of the study of the electropneumatic positional drive is presented in the form of an algorithm and a special program for calculating and comparing the kinematic and dynamic parameters of the drive.The technological time of the operation is adjustable and when using the exhaust cross-section of the working chambers of the pneumatic cylinder - 4 mm, the value of the working pressure up to 7 bar, the movement of the rod - up to 200 mm, it has optimal kinematic characteristics of work for a pneumatic gripper. The discrepancy between the value of the time of the working stroke of the output link of the functional mechatronic module calculated during the mathematical modeling after working out the kinematic cycle of the gripper was up to 3% for various input parameters.Документ Ємнісний тензодатчик(2013) Рудик, К. В.; Лобжинська, М. Ю.; Холодько, С. М.Розглянуто конструкцію та проаналізовані можливості першого плаского ємнісного тензодатчика, який містить два вимірювальні гребінкоподібні електроди посеред третього заземленого електроду. Discussed and analyzed the design of the first opportunitу of the flat capacitive strain gauge transducer, which contains two measuring comb electrodes between of the third ground electrode.Документ Перспективи появи нового класу триконтактних кондуктивних вимірювальних систем(2013) Рудик, К. В.; Галушко, Микола Миколайович; Хоменко, Тетяна ОлегівнаРозглянуто новий клас кондуктивних перетворювачів з трьома перехресними провідностями, аналогічний системам на основі теореми Лемпарда-Томсона, які вирізняє висока точність та Стабільність параметрів. We consider a new class of conductive converters with three cross-conductionі, similar systems based Lampard-Thompson theorem, that distinguishes high accuracy and stability of parameters.