Публікація: Development and Improvement of the Design of a Lightweight Mobile Robot Manipulator Using Generative Design
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Дата
2023
Назва журналу
ISSN журналу
Назва тома
Видавництво
Вчені записки ТНУ імені В.І. Вернадського
Анотація
This paper is devoted to the study of the possibility of minimizing the mass of an on-board manipulator for a mobile robot without losing structural strength. The analysis of publications showed that the solution of this task will allow to increase the mass of the payload, therefore it will allow to significantly increase the time of autonomous operation. Which, accordingly, will allow solving more complex manipulation tasks in areas of increased danger or man-made disasters. To solve the task, the authors developed a kinematic scheme and a movement mechanism of a 5-axis mobile manipulator, performed an analysis and selected stepper motors as the drivers. The rationale for this choice is to increase the positioning accuracy of the gripping mechanism, which will allow for more accurate operations of moving objects. Using the Autodesk Fusion 360 design environment, 3D models of the structural elements of the mobile manipulator were developed, assembly was carried out, and weight and strength parameters were investigated. The total weight of the manipulator was 1060g, under the conditions that the material to preserve the strength parameters will be sheet metal with a thickness of 5mm. Using the approach to generative design, the authors improved all structural elements and conducted a series of simulations in the Simulation: Shape Optimization plugin. The results of the typological analysis of each link of the developed mobile manipulator showed the possibility of reducing the mass of each part by ~30-40%, depending on its design features, without losing strength parameters. As a result of improving the designs of the mobile manipulator using the generative design method, it was possible to reduce the total weight from 1060g to 601g, that is, the weight of the manipulator decreased by 41.5%. The authors hope that in the future, the conducted research will allow to reduce the consumption of materials and the time of manufacturing structural elements without loss of strength parameters when using additive technologies (3D printing by the FDM method), and therefore to increase the autonomous operation time of the mobile manipulative robot.
Опис
Ключові слова
mobile robots, manipulators, kinematic scheme
Бібліографічний опис
Development and Improvement of the Design of a Lightweight Mobile Robot Manipulator Using Generative Design / I. Nevliudov, V. Yevsieiev, N. Demska, H. Kostrova // Вчені записки ТНУ імені В.І. Вернадського. Серія: Технічні науки.Томі 34 (73) № 2. - 2023. - С.206-213.