Construction typification as the tool for optimizing the functioning of a robotized manufacturing system

Modern Technologies in Industrial Engineering 2015

Gwiazda, A.^1 ; Banas, W.^1 ; Sekala, A.^1 ; Foit, K.^1 ; Hryniewicz, P.^1 ; Kost, G.^1

Silesian University of Technology, Faculty of Mechanical Engineering, Institute of Engineering Processes Automation and Integrated Manufacturing Systems, ul. Konarskiego 18a, Gliwice

44-100, Poland^1

关键词: Industrial robot arms;    Robotized manufacturing;    Schematic structures;    Specific location;    Structural elements;    Technological equipments;    Technological parameters;    Three-dimensional elements;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/95/1/012103/pdf
DOI  :  10.1088/1757-899X/95/1/012103

来源: IOP

【 摘 要 】

Process of workcell designing is limited by different constructional requirements. They are related to technological parameters of manufactured element, to specifications of purchased elements of a workcell and to technical characteristics of a workcell scene. This shows the complexity of the design-constructional process itself. The results of such approach are individually designed workcell suitable to the specific location and specific production cycle. Changing this parameters one must rebuild the whole configuration of a workcell. Taking into consideration this it is important to elaborate the base of typical elements of a robot kinematic chain that could be used as the tool for building Virtual modelling of kinematic chains of industrial robots requires several preparatory phase. Firstly, it is important to create a database element, which will be models of industrial robot arms. These models could be described as functional primitives that represent elements between components of the kinematic pairs and structural members of industrial robots. A database with following elements is created: the base kinematic pairs, the base robot structural elements, the base of the robot work scenes. The first of these databases includes kinematic pairs being the key component of the manipulator actuator modules. Accordingly, as mentioned previously, it includes the first stage rotary pair of fifth stage. This type of kinematic pairs was chosen due to the fact that it occurs most frequently in the structures of industrial robots. Second base consists of structural robot elements therefore it allows for the conversion of schematic structures of kinematic chains in the structural elements of the arm of industrial robots. It contains, inter alia, the structural elements such as base, stiff members - simple or angular units. They allow converting recorded schematic three-dimensional elements. Last database is a database of scenes. It includes elements of both simple and complex: simple models of technological equipment, conveyors models, models of the obstacles and like that. Using these elements it could be formed various production spaces (robotized workcells), in which it is possible to virtually track the operation of an industrial robot arm modelled in the system..