On Dimension Synthesis of Hart’s Inversor III Straight-Line Mechanism As a Precision Robotic End-of-Arm Tool

Author(s):  
Ming Z. Huang

Abstract In flexible manufacturing systems, straight line motions are often required in part handling, assembly, cutting, sealing, or welding operations. Rather than using a high performance industrial robot to execute the path directly, employment of a less precise robot outfitted with an end-of-arm tool comprising an exact straight line mechanism could be more effective in both performance and in cost. Exact straight line mechanisms with pin connections are easy to manufacture and assemble, in comparison to those realized by translational joints where alignment of linear axes or surface could be problematic. Such an issue becomes even more difficult when relatively large stroke and/or high precision of straight line motion is required. In this paper, a study of the kinematic characteristics of a special class of exact straight line mechanisms, Hart’s Inversor Type III, with emphasis toward dimension synthesis, is presented. An analytical approach for sizing the link lengths with respect to a desirable straight line stroke constraint is developed and illustrated with examples. Also presented are stiffness and mechanical advantage characteristics for additional design considerations.

2019 ◽  
Vol 957 ◽  
pp. 195-202 ◽  
Author(s):  
Elizaveta Gromova

With the onset of the Fourth Industrial Revolution, the business environment becomes inherent in changes that occur with maximum speed, as well as characterized by the systemic nature of the consequences. One of them is the transformation of operational management models in industrial enterprises. The modern manufacturing system should focus not only on speed of response and flexibility, but also on the cost and quality of products. Integration of effective models: agile manufacturing, quick response manufacturing and lean production, in order to extract the best from them is proposed. The purpose of this study is to analyze this flexible manufacturing system and to relate it to the current state of the Russian industrial development. Theoretical and practical aspects of this model are presented. The examples of the flexible models introduction in the Russian industrial sector is allocated. The conclusion about the necessity of the flexible manufacturing systems implementation for the Russian industrial development is drawn.


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