scholarly journals DESIGN OF INDUSTRIAL ROBOT WITH INCREASED LOCOMOTION

2018 ◽  
pp. 95-100
Author(s):  
Rudolf Jánoš ◽  
Dobiaš Dominik
Keyword(s):  
Industrial Robot ◽  
Development Stage ◽  
Point Of View ◽  
Industrial Robots ◽  
Human Anatomy ◽  
Main Task ◽  
Automated Production ◽  
Starting Point ◽  
Current Production ◽  
Common Sign

Urgency of the research. One of the top trends in the field of mechanical engineering is automation. An inherent part of automation in today's businesses is industrial robots of various categories. In today's industrial production, human and robot are usually separated from each other in order to avoid potential collisions. Continuous development and the growing trend of robotics, in order to increase competitiveness, abandons this individual and isolated robot deployment and prevents group-building of human-robot workplaces. Target setting. The reason for designing industrial robots with capacity around 5-10kg according to human anatomy is that the transition from semi-automated production (operating lines controlled by operators) to fully automated production requires industrial robots that have dimensions similar to human anatomy. Actual scientific researches and issues analysis. The current production of robot devices reaches a high technical level, which is further enhanced by the continued development of their subsystems, but also by the upgrading of functional principles and elements that are involved in the architecture and morphology of these devices. The research objective. To what extent is it possible for the work process to be mechanized or automated depends also on the level of development of the used equipment. In today's development stage, design of automated device is also automated. The statement of basic materials: From the point of view of approaching the design of robots systems means a common sign is a mechatronic approach. Robots technical devices are a typical product with all the features of mechatronics (linking knowledge of engineering, management methods and artificial intelligence). This becomes the starting point for the elaboration of the methods of designing robots at all. Conclusions. This article focuses on the design of the robotics devices, whose main task is to perform the assembly. The future of deploying human-robot collaboration has enormous boundaries and many variables that still need to be addressed. It is important to remember that this technology is not about replacing people with robots. Rather, it is about using robust human features and robot strengths to achieve a new level of efficiency and productivity that could not be achieved by self-employment.

scholarly journals A review on control systems hardware and software for robots of various scale and purpose. Part 1. Industrial robotics

2019 ◽  
Vol 7 (5) ◽  
pp. 30-46 ◽  
Author(s):  
A. M. Romanov
Keyword(s):  
Control System ◽  
Fault Tolerance ◽  
Control Systems ◽  
Intelligent Control ◽  
Industrial Robot ◽  
Cloud Service ◽  
Point Of View ◽  
Industrial Robots ◽  
Robotic Systems ◽  
Industrial Robotics

A review of robotic systems is presented. The paper analyzes applied hardware and software solutions and summarizes the most common block diagrams of control systems. The analysis of approaches to control systems scaling, the use of intelligent control, achieving fault tolerance, reducing the weight and size of control system elements belonging to various classes of robotic systems is carried out. The goal of the review is finding common approaches used in various areas of robotics to build on their basis a uniform methodology for designing scalable intelligent control systems for robots with a given level of fault tolerance on a unified component base. This part is dedicated to industrial robotics. The following conclusions are made: scaling in industrial robotics is achieved through the use of the modular control systems and unification of main components; multiple industrial robot interaction is organized using centralized global planning or the use of previously simulated control programs, eliminating possible collisions in working area; intellectual technologies in industrial robotics are used primarily at the strategic level of the control system which is usually non-real time, and in some cases even implemented as a remote cloud service; from the point of view of ensuring fault tolerance, the industrial robots developers are primarily focused on the early prediction of faults and the planned decommissioning of the robots, and are not on highly-avaliability in case of failures; industrial robotics does not impose serious requirements on the dimensions and weight of the control devices.

scholarly journals CELL DESIGN FOR GEARBOX ASSEMBLY

2018 ◽  
pp. 49-54
Author(s):  
Rudolf Jánoš ◽  
Baňasová Antónia
Keyword(s):  
Production Systems ◽  
Traditional Approach ◽  
Development Stage ◽  
Main Task ◽  
Work Process ◽  
Starting Point ◽  
And Performance ◽  
The Right ◽  
High Level ◽  
Almost All

Urgency of the research. Automation is the next step in increasing productivity and performance. It represents the autonomous management of the entire system as well as the assembly or production process. This completely eliminates a human factor from the work process. Target setting. Today's robots and manipulators are now autonomous. Automated systems can be found in almost all industries. They are an indispensable part of non-productive environments, but we can also find them in non-industrial areas as well. Their dynamic development extends to service robotics. For their productivity, they have reached a high level, but their development is constantly advancing by refining their subsystems, introducing new functional principles, or upgrading compo-nents and elements involved in the construction of these mechanisms. Actual scientific researches and issues analysis. To meet the requirements of automatition cells, it was slowly being applied to flexible production systems. These are systems that consist of computers and are connected by means of control units. They are characterized by complexity, flexibility and, above all, the multiplicity of elements. Such flexible systems based on the modularity, that systems are composed of individual modules and subsystems that can be adapted as needed. Uninvestigated parts of general issues defining. Design of automated robotic workplaces, based on the intensive development of functional and especially kinematic structures of the workplace as a whole. The research objective. To what extent is it possible for the work process to be mechanized or automated depends also on the level of development of the used equipment. In today's development stage, design of automated device is also automated. The statement of basic materials. This article focuses on the design of the manipulator, whose main task is to perform the assembly. Analysis of the task illustrates the principle design of the solution, which is also the starting point for the design of the universal manipulator. Current requirements of application practice for robotic technology have caused increased requirements for its functions, characteristics and parameters which cannot be always covered by the traditional approach to its design and construction. Conclusions. In this article describes in more detail the knowledge and division of the proposed devices and mechanisms, which provides an initial understanding of design. By analyzing the problem and defining the necessary parameters, the design of the manipulator was developed. Festo's design software also helped to make the right choice.

The Method of the Computer Vision System Coordinate Transformation for an Industrial Robot for a Laser Welding Operation

2020 ◽  
Vol 21 (3) ◽  
pp. 166-173
Author(s):  
A. Y. Polivanov ◽  
Y. V. Ivanov ◽  
D. V. Kholin
Keyword(s):  
Computer Vision ◽  
Laser Welding ◽  
Coordinate System ◽  
Coordinate Transformation ◽  
Industrial Robot ◽  
Three Dimensional ◽  
Industrial Robots ◽  
Main Task ◽  
Welding Joint ◽  
Video Sensor

In this article, the authors consider the problem of coordinate transformation in computer vision systems (CVS) of robotic system (RS) for laser welding. Laser welding is a highly efficient technological operation in many respects superior to common types of welding due to the high concentration of energy at the welding point. However, laser welding has a number of requirements, including a high requirement for the accuracy of positioning the laser head relative to the welding joint. Adaptive control systems based on CVS allow to provide the required accuracy. The main task of CVS is to determine the three-dimensional coordinates of the welding joint using a video sensor, convert the received coordinates into a coordinate system in which the RS is controlled, and the converted coordinates are transferred to the control system. Note, the accuracy and determination of coordinates are important factors. To accomplish this task, it is necessary to consider the coordinate transformation as a set of actions performed taking into account the specifics of using CVS as part of an RS for laser welding. For this purpose, the article analyzes typical schemes for placing CVS on industrial robots and proposes the most suitable configuration for laser welding. A methodology was also developed for measuring the three-dimensional coordinates of the welding joint using the triangulation method. The authors carried out a comparative analysis of the main existing methods for calibrating CVS video sensors and proposed an original method for calibrating videosensors taking into account the specifics of the functioning of the RS for laser welding. As a result, the article presents the rationale for the need to consider coordinate conversion to CVS as part of an RS for laser welding, as well as a set of methods that allows to perform conversions from a virtual coordinate system of a video sensor to a coordinate system of a robot, which allows direct control based on CVS data. In conclusion, the authors give a method for calibrating a video sensor, which allows achieving the requirements specified in the article for the accuracy of determining the coordinates of the welding joint.

Research on Kinematics Simulation and Analysis of 6 Revolute Joint Serial Industrial Robot

2011 ◽  
Vol 308-310 ◽  
pp. 2074-2077
Author(s):  
Ke Li ◽  
Duan Neng Li ◽  
Ling Lin Kong
Keyword(s):  
Manufacturing Industry ◽  
Industrial Robot ◽  
Strong Support ◽  
Industrial Robots ◽  
Mathematical Software ◽  
Kinematics Analysis ◽  
Revolute Joint ◽  
Automated Production ◽  
Kinematics Simulation

Industrial robots are getting more and more applications in modern automated production, it’s a strong support to the development of manufacturing industry. Nowadays many domestic enterprises begin to do the robot R&D. We use mathematical software Matlab to make kinematics simulation of IRB1410 robot and succeed in verifying the justifiability of kinematics analysis.

scholarly journals Assembly Line Productivity Assessment by Comparing Optimization-Simulation Algorithms of Trajectory Planning for Industrial Robots

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Francisco Rubio ◽  
Carlos Llopis-Albert ◽  
Francisco Valero ◽  
Josep Lluís Suñer
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Point Of View ◽  
Industrial Robots ◽  
Trade Offs ◽  
Optimization Simulation ◽  
Optimization Methodology ◽  
Robot Task ◽  
Pareto Fronts ◽  
The Impact

In this paper an analysis of productivity will be carried out from the resolution of the problem of trajectory planning of industrial robots. The analysis entails economic considerations, thus overcoming some limitations of the existing literature. Two methodologies based on optimization-simulation procedures are compared to calculate the time needed to perform an industrial robot task. The simulation methodology relies on the use of robotics and automation software called GRASP. The optimization methodology developed in this work is based on the kinematics and the dynamics of industrial robots. It allows us to pose a multiobjective optimization problem to assess the trade-offs between the economic variables by means of the Pareto fronts. The comparison is carried out for different examples and from a multidisciplinary point of view, thus, to determine the impact of using each method. Results have shown the opportunity costs of non using the methodology with optimized time trajectories. Furthermore, it allows companies to stay competitive because of the quick adaptation to rapidly changing markets.

scholarly journals THE USE OF THE TWO-HANDED COLLABORATIVE ROBOT IN NON-COLLABORATIVE APPLICATION

2020 ◽  
Vol 60 (2) ◽  
pp. 151-157
Author(s):  
Michal Vocetka ◽  
Jiří Suder ◽  
Daniel Huczala
Keyword(s):  
Automotive Industry ◽  
Load Capacity ◽  
Point Of View ◽  
Industrial Robots ◽  
Production Cycle ◽  
Automated Production ◽  
Alternative Approach ◽  
Low Load ◽  
High Production ◽  
Collaborative Robot

The article deals with possibilities of using of a two-handed collaborative robot in automated production. The introductory part of this paper is about robot manufacturers’ proposed ways of use of collaborative robots and a consideration of correctness of this stance. In this matter, an alternative point of view is proposed and tested, where a collaborative robot does not cooperate with a worker but replaces him/her completely. The main part of the study focuses on a specific installation of the YuMi collaborative robot into an already existing production line of a leading Czech supplier in the automotive industry. This real application is verified in simulations with an alternative solution consisting of two traditional industrial robots ABB IRB 120 instead. These data are evaluated and the advantages of deploying the collaborative robot and the industrial robots in the specific assembly application are compared. Economic return and productivity in high production cycle applications are considered. The article then describes the difficulties caused by the low load capacity of the YuMi collaborative robot and an alternative approach using the FEM methodology and topology optimization in the robot grip jaws design.

УКРАЇНОЗНАВЧИЙ ОСВІТНІЙ ЧИННИК В УМОВАХ СУЧАСНОЇ УКРАЇНСЬКОЇ МАСОВОЇ КУЛЬТУРИ

2019 ◽  
pp. 22-29
Author(s):  
Н. В. Фрадкіна
Keyword(s):  
Mass Culture ◽  
Personal Development ◽  
Negative Impact ◽  
Educational Process ◽  
Point Of View ◽  
Character Trait ◽  
Main Task ◽  
Leading Role ◽  
The Individual

The purpose and tasks of the work are to analyze the contemporary Ukrainian mass culture in terms of its value and humanistic components, as well as the importance of cultural studies and Ukrainian studies in educational disciplines for the formation of a holistic worldview of modern youth.Analysis of research and publications. Scientists repeatedly turned to the problems of the role of spirituality in the formation of society and its culture. This problem is highlighted in the publications by O. Losev, V. Lytvyn, D. Likhachev, S. Avierintsev, M. Zakovych, I. Stepanenko and E. Kostyshyn.Experts see the main negative impact of mass culture on the quality approach, which determines mass culture through the market, because mass culture, from our point of view, is everything that is sold and used in mass demand.One of the most interesting studies on this issue was the work by the representatives of Frankfurt School M. Horkheimer and T. Adorno «Dialectics of Enlightenment» (1947), devoted to a detailed analysis of mass culture. Propaganda at all socio-cultural levels in the form is similar in both totalitarian and democratic countries. It is connected, according to the authors, with the direction of European enlightenment. The tendency to unify people is a manifestation of the influence of mass culture, from cinema to pop. Mass culture is a phenomenon whose existence is associated with commerce (accumulation in any form – this is the main feature of education), in general, the fact that it exists in this form is related to the direction of the history of civilization.Modern mass culture, with its externally attractive and easily assimilated ideas and symbols, appealing to the trends of modern fashion, becomes a standard of prestigious consumption, does not require intense reflection, allows you to relax, distract, not teach, but entertains, preaches hedonism as the main spiritual value. And as a consequence, there are socio-cultural risks: an active rejection of other people, which leads to the formation of indifference; cruelty as a character trait; increase of violent and mercenary crime; increase in the number of alcohol and drug addicts; anti-patriotism; indifference to the values of the family and as a result of social orphanhood and prostitution.Conclusions, perspectives of research. Thus, we can conclude that modern Ukrainian education is predominantly formed by the values of mass culture. Namely, according to the «Dialectic» by Horkheimer and Adorno, «semi-enlightenment becomes an objective spirit» of our modern society.It is concluded that only high-quality education can create the opposite of the onset of mass culture and the destruction of spirituality in our society. It is proved that only by realizing the importance of cultivating disciplines in the educational process and the spiritual upbringing of the nation, through educational reforms, humanitarian knowledge will gradually return to student audiences.Formation of youth occurs under the influence of social environment, culture, education and self-education. The optimal combination of these factors determines both the process of socialization itself and how successful it will be. In this context, one can see the leading role of education and upbringing. It turns out that the main task of modern education is to spread its influence on the development of spiritual culture of the individual, which eventually becomes a solid foundation for the formation of the individual. Such a subject requires both philosophical and humanitarian approaches in further integrated interdisciplinary research, since the availability of such research will provide the theoretical foundation for truly modern educational and personal development.

SAFETY AND RISK ASSESSMENT AT AUTOMATED WORKPLACE

2018 ◽  
pp. 78-84
Author(s):  
Marek Vagas
Keyword(s):  
Risk Assessment ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Growing Up ◽  
Target Setting ◽  
Clear View ◽  
General Safety

Urgency of the research. Automated workplaces are growing up in present, especially with implementation of industrial robots with feasibility of various dispositions, where safety and risk assessment is considered as most important issues. Target setting. The protection of workers must be at the first place, therefore safety and risk assessment at automated workplaces is most important problematic, which had presented in this article Actual scientific researches and issues analysis. Actual research is much more focused at standard workplaces without industrial robots. So, missing of information from the field of automated workplaces in connection with various dispositions can be considered as added value of article. Uninvestigated parts of general matters defining. Despite to lot of general safety instructions in this area, still is missed clear view only at automated workplace with industrial robots. The research objective. The aim of article is to provide general instructions directly from the field of automated workplaces The statement of basic materials. For success realization of automated workplace is good to have a helping hand and orientation requirements needed for risk assessment at the workplace. Conclusions. The results published in this article increase the awareness and information of such automated workplaces, together with industrial robots. In addition, presented general steps and requirements helps persons for better realization of these types of workplaces, where major role takes an industrial robot. Our proposed solution can be considered as relevant base for risk assessment such workplaces with safety fences or light barriers.

LES AXES DE LA CRÉATION ET LA NAISSANCE DE LʹIMAGINAIRE COMME LANGAGE MYTHIQUE

Trictrac ◽  
2016 ◽  
Vol 9 ◽  
Author(s):  
Liliana Danciu ◽  
Petru Adrian Danciu
Keyword(s):  
Sacred Space ◽  
Physical World ◽  
Spoken Word ◽  
Point Of View ◽  
Philosophical Approach ◽  
Starting Point ◽  
Written Form ◽  
The Creation ◽  
Religious Systems ◽  
Rich Spectrum

The axes of the creation and birth of the imaginary as a mythical language. Our research follows the relationships of the concepts that are taking into account creation on the double axis of verticality and horizontality. We highlight those symbolic elements which would later constitute the mythical language about the sacred space-temporality. Inside this space-temporality a rich spectrum of mythical images develops; images capable of explaining the relationships of the creation plans. Without a religious perception of the temporality, the conceptualization of the axis would remain a philosophical approach. Through our point of view, the two are born simultaneously. Thanks to them, creation can be imagined. The first “frozen” formula of the mystical human spirit can be thought, brought to a palpable reality, expressed in an oral and then a written form. Studied together, temporality (sacred or not) and space are permanently imagined together. For example, a loss of mundane temporality in the secret ecstasy that offers to the soul an ascending direction does not mean getting out of universal temporality, but of its mundane section. In the sacred space the soul relates to time. Even the gods are submitted by the sacred, Aeon sometimes being synonymous to destiny. The universal creator seems to evade every touch, but not consistently, only when he avoids the descent into its created worlds. In sacredness, time and space seem or become confused, both expressing the same reality, by the immediate swing from thinking to deed. The mythical imagery conceives the displacement in the primary space-temporality by the spoken word. So, for something to appear and live, the spoken word is required. Even the divine dream appears as a pre-word of a creator’s thought. The thought follows the spoken word, the spoken word follows the gestures which finally indicate the meanings of the creative act, controlling the rhythm of the creation days. These three will later be adapted through imitation in rite. We are now situated at the limit of the physical world, a real challenge for the mythical imagery. The general feature of the mythical expression on the creation of the material world is the state of the divinity’s exhaustion, most often conceptualized by sacrifice or divine fatigue. The world geography identifies with the anatomy of a self-gutted god. Practically, material creation is most likely the complete revelation of God’s body autopsy. As each body decomposes, everything in it is an illusion. An axial approach of the phenomenon exists in all religious systems. The created element’s origin is exterior, with or without a pre-existing matter, by a god’s sacrifice or only because it has to be that way. This is the starting point of the discussion on the symbolism of axiality as a reason for the constitution of the language of creation, capable of retelling the imaginary construction of myth in an oral and then written form.

L’absence chez Michel Butor. L’Emploi du temps et Degrés

2012 ◽  
pp. 66-80
Author(s):  
Michał Mrozowicki
Keyword(s):  
Human Memory ◽  
Point Of View ◽  
Narrative Discourse ◽  
The Novel ◽  
Michel Butor ◽  
Starting Point ◽  
One Year ◽  
The Moment ◽  
Narrative Mode ◽  
The City

Michel Butor, born in 1926, one of the leaders of the French New Novel movement, has written only four novels between 1954 and 1960. The most famous of them is La Modification (Second thoughts), published in 1957. The author of the paper analyzes two other Butor’s novels: L’Emploi du temps (Passing time) – 1956, and Degrés (Degrees) – 1960. The theme of absence is crucial in both of them. In the former, the novel, presented as the diary of Jacques Revel, a young Frenchman spending a year in Bleston (a fictitious English city vaguely similar to Manchester), describes the narrator’s struggle to survive in a double – spatial and temporal – labyrinth. The first of them, formed by Bleston’s streets, squares and parks, is symbolized by the City plan. During his one year sojourn in the city, using its plan, Revel learns patiently how to move in its different districts, and in its strange labyrinth – strange because devoid any centre – that at the end stops annoying him. The other, the temporal one, symbolized by the diary itself, the labyrinth of the human memory, discovered by the narrator rather lately, somewhere in the middle of the year passed in Bleston, becomes, by contrast, more and more dense and complex, which is reflected by an increasinly complex narration used to describe the past. However, at the moment Revel is leaving the city, he is still unable to recall and to describe the events of the 29th of February 1952. This gap, this absence, symbolizes his defeat as the narrator, and, in the same time, the human memory’s limits. In Degrees temporal and spatial structures are also very important. This time round, however, the problems of the narration itself, become predominant. Considered from this point of view, the novel announces Gerard Genette’s work Narrative Discourse and his theoretical discussion of two narratological categories: narrative voice and narrative mode. Having transgressed his narrative competences, Pierre Vernier, the narrator of the first and the second parts of the novel, who, taking as a starting point, a complete account of one hour at school, tries to describe the whole world and various aspects of the human civilization for the benefit of his nephew, Pierre Eller, must fail and disappear, as the narrator, from the third part, which is narrated by another narrator, less audacious and more credible.

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