Перегляд за автором "Valkivskyi, Y."

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  • Зображення мініатюри
    Публікація
    Development of a 3D Model of a Manipulator for Mobile Robotic Platforms Based on Unigraphics NX
    (Видавничий дім «Гельветика», 2022) Nevliudov, I.; Yevsieiev, V.; Demska, N.; Valkivskyi, Y.
    The article discusses the issues of modernization of the mobile robot Festo Robotino, due to the integration of the MR-999E manipulator system into it. This solution will significantly expand the functionality of the mobile robot Festo Robotino and will allow for new research related to the development of new methods and models for making decisions on moving objects. Based on the study, it was revealed that the existing MR-999E manipulator system has a number of disadvantages, one of which is the insufficient compression force of the gripper to move the test objects, which does not allow it to be widely implemented as a mobile manipulation platform. To eliminate these shortcomings, the authors carried out research, on the basis of which a kinematic diagram of the gripping module was developed. To check the correctness of the decisions made and the obtained calculations in the CAD Unigraphics NX system, 3D models of all the main elements of the mobile manipulator were developed, the dimensions of the teeth with an involute profile were calculated, which made it possible to increase the positioning accuracy of the links in space to solve the problem of spatial assembly of structures with the required accuracy. Based on the developed 3D models, the authors have designed a detailed 3D model of the manipulator assembly, in the CAD Unigraphics NX system, as well as using numerical engineering analysis, based on the finite element method, calculations were carried out to determine the required gripping force of the improved gripping mechanism. The developed 3D models are made using additive 3D printing technologies. This made it possible to manufacture a prototype of the gripping mechanism and experimentally confirm the possibility of integrating it with the Festo Robotino mobile robot in order to expand its functionality.
  • Зображення мініатюри
    Публікація
    Modernization of the work control system by the PUMA-560 manipulator
    (2021) Nevliudov, I.; Yevsieiev, V.; Demska, N.; Valkivskyi, Y.
    Modern production is impossible without the introduction of advanced technologies, which are reflected in the concept of the fourth industrial revolution Industry 4.0. The proposed concept affects all areas of production processes, through the introduction of cyber-physical production systems (CPPS), robotic systems (RS), artificial intelligence (AI), the use of Industrial Internet of Things (IIoT) and the desire for full automation of all technological processes (TP). This approach to the implementation of production processes allows to solve a number of complex problems: optimization and automation of TP, obtaining data on the implementation of TP in real time, collecting analytical information for monitoring and forecasting, which will allow to fulfill the requirements of Lean Manufacturing (LM). To solve these problems, it is necessary to create a single information environment, based on IIoT, which would cover all stages of production management. This requires that all equipment be part of a single information space of the enterprise, for which it is necessary to replace obsolete equipment with new one with the support of digital control systems, which leads to large financial losses. In this regard, many companies are considering the task of upgrading existing equipment. The solution of this problem is a complex scientific and technical problem, the solution of which covers the following areas: the theory of automatic control, circuitry, programming. One of the difficult objects to upgrade is a robot manipulator. This article discusses some aspects of solving the problem of modernization of the robot control system manipulator PUMA-560 (PM-01). The study of actuators, PM-01 engines and control cabinet Puma Mark III (Sphere-36 (56)), developed a structural control scheme PUMA-560 lower level. The element base is analyzed, the microprocessor is chosen and the circuit diagram is designed. Using EDA Altium Designer, a printed circuit board for the PUMA-560 manipulator control system was developed with the ability to connect to modern microcomputers, such as LattePanda, running Windows 10/11. The proposed solution, according to the authors, will automate the control system of the manipulator PUMA-560 and connect it to a single information network based on IIoT.