Тези доповідей, матеріали конференцій
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Документ Implementation of AR technologies in robotics on the example of a dosing robot manipulator(2024) Yasychev, Vladyslav; Yemelianov, Dmytro; Zaporozhets, Oleksandr; Kryvoplias-Volodina, LiudmylaThe development of complex automated packaging systems, mechatronic assemblies, working bodies and parts for the AR library of augmented reality is an urgent task for finding new technical solutionsДокумент 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 Development and research of a pneumatic actuator for shut-off valves for food processing equipment(2023) Volodin, Sergiy; Mironchuk, Valeriy; Gavva, Oleksandr M.; Yemelianov, DmytroThe use of the latest process control and management systems is a topical area of development in the food industry. Replacing labour-intensive process circuits of pipeline valves with programmable positioning devices using a 4-20 mA control signal makes it possible to reduce energy and process losses in food production. Використання новітніх систем контролю та управління технологічними процесами є актуальним напрямком розвитку харчової промисловості. Заміна трудомістких технологічних контурів трубопровідної арматури на програмовані пристрої позиціонування з керуючим сигналом 4-20 мА дозволяє зменшити енергетичні та технологічні втрати при виробництві харчових продуктів.