Mathematical model of a robotized assembly in the presence of vibrations and gripper rotation

2020 ◽  
pp. 299-304
Author(s):  
M.V. Vartanov ◽  
Trung Ta Tran
Keyword(s):  
Mathematical Model ◽  
Friction Force ◽  
Rotational Motion ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Dynamics Model ◽  
Assembly Method ◽  
Robot Gripper

The assembly method using the effect of rotational motion and vibration is considered. The presence of rotation allows to signifi cantly reducing the friction force in connection, which prevents the assembly process. The effect is achieved due to using the rotation of robot gripper and the vibrating device. A mathematical dynamics model of the robotic assembly process is presented

scholarly journals Research of the reliability of a robotic assembly based on the effect of rotation and low-frequency vibrations

2021 ◽  
Vol 2131 (5) ◽  
pp. 052026
Author(s):  
M V Vartanov ◽  
T T Tran
Keyword(s):  
Mathematical Model ◽  
Rotational Motion ◽  
Low Frequency ◽  
Robotic Assembly ◽  
Assembly Process ◽  
Automatic Assembly ◽  
Rotational Movement ◽  
Assembly Method ◽  
Set Up ◽  
Technological Mode

Abstract Using various physical and technical effects in automatic assembly is a promising tendency to increase the technological reliability of the assembly process. The article presents a method for robotic assembly of cylindrical joints using the effect of rotational motion and low-frequency vibrations. The effect can be achieved by using low-frequency vibrations of the base part with the help of a vibrating device and the rotational movement of the installed part with the help of the rotational movement of the robot out-put link. The paper presented a mathematical model of the dynamics of the robotic assembly process of cylindrical joints. Experiments were set up and carried out to test the effectiveness of the proposed assembly method. The research results affirmed that with a rational technological mode of the robotic assembly process using the effect of rotation and low-frequency vibrations, the probability of jamming is completely eliminated and the assembly force is significantly reduced.

scholarly journals Investigating the Conditions of Automatic Assembly of Polyhedral Joints

2021 ◽  
Author(s):  
Mikhail Vladimirovich Vartanov ◽  
Zinina Inna Nikolaevna ◽  
Klimenko Irina Leontievna ◽  
Tran Dinh Van
Keyword(s):  
Mathematical Model ◽  
Experimental Studies ◽  
Low Frequency ◽  
Robotic Assembly ◽  
Flexible Link ◽  
Inertial Coordinate System ◽  
Assembly Method ◽  
Low Frequency Oscillations ◽  
Process Reliability ◽  
Simultaneous Rotation

Abstract Purpose – Providing the technological reliability of the robotic assembly of joints with RK-profile on the basis of adaptation devices and low-frequency oscillations. Design/methodology/approach – Ensuring the assembly conditions is achieved by the vibration device that provides oscillations relative to the two axes, perpendicular to the assembly direction and rotation about the assembly axis. Compensation of the linear error in the position of the parts is attained by an adaptive gripper with a flexible link. Findings – A mathematical model describing the assembly process of parts relative to the non-inertial coordinate system is developed. The technological modes of profile parts assembly are defined. Originality/value – The robotic assembly method of profile joints by the adaptation devices, namely a combination of elastic fixing of the installed profile part and the simultaneous rotation and vibration of the base part to improve the process reliability is developed. Experimental studies confirmed the adequacy of the created mathematical model. The patent for the assembly method of profile joints with a gap is received.

Simulation of oscillatory processes in the MVSTUDIUM package

2022 ◽  
Vol 14 (4) ◽  
pp. 139-148
Author(s):  
Aleksandr Poluektov ◽  
Konstantin Zolnikov ◽  
V. Antsiferova
Keyword(s):  
Mathematical Model ◽  
Friction Force ◽  
Computer Models ◽  
3D Models ◽  
Oscillatory Process ◽  
Suspension Point ◽  
Factors Affecting ◽  
2D And 3D ◽  
The Mathematical Model ◽  
Oscillatory Processes

The mathematical model and algorithms of oscillatory movements are considered. Various factors affecting the oscillatory process are considered. Oscillatory movements are constructed in the MVSTUDIUM modeling environment. The schemes of three computer models demonstrating oscillatory processes are determined: a model of a pendulum with a non-movable suspension point, a model of a pushing pendulum with friction force and a model of a breaking pendulum. Classes are being built to execute models with embedded properties, as well as with the ability to export the created classes to other models, and embed classes created by the program developer into the model. Creation of 2D and 3D models of oscillatory processes, an experiment behavior map and a virtual stand.

DIFFERENTIAL EQUATIONS FOR TRAIN STARTING WITH ELASTIC CONNECTIONS

2021 ◽  
Vol 2 ◽  
pp. 18-26
Author(s):  
I.P. POPOV
Keyword(s):  
Mathematical Model ◽  
Differential Equations ◽  
Friction Force ◽  
Static Friction ◽  
Longitudinal Vibrations ◽  
Maximum Tension ◽  
Inert Mass ◽  
The Moment ◽  
Elastic Couplings ◽  
Selection Of

The starting mode for the train is the most difficult. An effective method of pulling is the selection of coupling clearances. In this case, the cars are set in motion sequentially and the inert mass, as well as the static friction force immediately at the moment of starting, are minimal. This method has two significant drawbacks - a small fixed value of the gaps in the couplings and the shock nature of the impulse transfer. These disadvantages can be avoided by using elastically deformable couplings. The aim of this work is to construct a mathematical model of "easy" starting of a train with elastic couplings. The softening of the train start-off mode is essentially due to the replacement of the simultaneous start-off of the sections with alternate ones. To exclude longitudinal vibrations of the composition, after reaching the maximum tension of the coupling, the possibility of its harmonic compression should be mechanically blocked.

Simulation and Optimization of Airframe Assembly Process

2018 ◽  
Author(s):  
Sergey Lupuleac ◽  
Nadezhda Zaitseva ◽  
Maria Stefanova ◽  
Sergey Berezin ◽  
Julia Shinder ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Statistical Analysis ◽  
Problem Solving ◽  
Contact Problem ◽  
Quality Measures ◽  
Assembly Process ◽  
Variation Analysis ◽  
Simulation And Optimization ◽  
The Mathematical Model ◽  
Variation Simulation

An approach for simulating the assembly process where compliant airframe parts are being joined by riveting is presented. The foundation of this approach is the mathematical model based on the reduction of the corresponding contact problem to a Quadratic Programming (QP) problem. The use of efficient QP algorithms enables mass contact problem solving on refined grids, which is needed for variation analysis and simulation as well as for the consequent assembly process optimization. To perform variation simulation, the initial gap between the parts is assumed to be stochastic and a cloud of such gaps is generated based on statistical analysis of the available measurements. The developed approach is illustrated with two examples, simulation of A350-900 wing-to-fuselage joining and optimization of A320 wing box assembly. New contact quality measures are discussed.

How reverse reactions influence the yield of self-assembly robots

2011 ◽  
Vol 30 (5) ◽  
pp. 627-641 ◽  
Author(s):  
Shuhei Miyashita ◽  
Maurice Göldi ◽  
Rolf Pfeifer
Keyword(s):  
Mathematical Model ◽  
Self Assembly ◽  
Target Product ◽  
Assembly Process ◽  
Assembly Sequence ◽  
Essential Factor ◽  
Kinetic Rate ◽  
Bottom Up ◽  
Composition Methods

The decay in structure size of manufacturing products has yielded new demands on spontaneous composition methods. The key for the realization of small-sized robots lies in how to achieve the efficient assembly sequence in a bottom-up manner, where most of the parts have only limited (or no) computational (i.e. deliberative) abilities. In this paper, based on a novel self-assembly platform consisting of self-propulsive centimetre-sized modules capable of aggregation on the surface of water, we study the effect of stochasticity and morphology (shape) on the yield of targeted formations in self-assembly processes. Specifically, we focus on a unique phenomenon: that a number of modules instantly compose a target product without forming intermediate subassemblies, some of which constitute undesired geometrical formations (termed one-shot aggregation). Together with a focus on the role that the morphology of the modules plays, we validate the effect of one-shot aggregation with a kinetic rate mathematical model. Moreover, we examined the degree of parallelism of the assembly process, which is an essential factor in self-assembly, but is not systematically taken into account by existing frameworks.

Mathematical model of energy saving hydraulic turning mechanism forestry manipulator

2015 ◽  
Vol 5 (4) ◽  
pp. 223-234
Author(s):  
Попиков ◽  
Petr Popikov ◽  
Клубничкин ◽  
Vladislav Klubnichkin
Keyword(s):  
Mathematical Model ◽  
Energy Saving ◽  
Rotational Motion ◽  
Basic Equation ◽  
Hydraulic Drive ◽  
Vertical Axis ◽  
Mass Point ◽  
Piston Motion ◽  
Mechanical Process ◽  
Turning Mechanism

Presented simulation mathematical model of the mechanism of rotation of the column manipulator with energy-saving hydraulic drive. The model takes into account three mechanical process: the rotational movement of the column arm around a vertical axis load sway relative attachment points on the boom arm and the piston motion of fluid accumulator. To describe the rotation of the column using the basic equation of dynamics of rotational motion. The load represented either as a mass point, when the dimen-sions are small and the proportionality, or a rod if the simulated moving manipulator logs or pipes.

Experiment and simulation of friction coefficient of polyoxymethylene

2018 ◽  
Vol 70 (2) ◽  
pp. 273-281 ◽  
Author(s):  
Xiaoshuang Xiong ◽  
Lin Hua ◽  
Xiaojin Wan ◽  
Can Yang ◽  
Chongyang Xie ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Friction Coefficient ◽  
Contact Pressure ◽  
Friction Force ◽  
Normal Load ◽  
Fe Model ◽  
Sliding Velocity ◽  
Experiment Data ◽  
Simulation Data ◽  
Content Type

Purpose The purposes of this paper include studying the friction coefficient of polyoxymethylene (POM) under a broad range of normal load and sliding velocity; developing a mathematical model of friction coefficient of POM under a broad range of normal loads and sliding velocities; and applying the model to dynamic finite element (FE) analysis of mechanical devices containing POM components. Design/methodology/approach Through pin-on-disc experiment, the friction coefficient of POM in different normal loads and sliding velocities is investigated; the average contact pressure is between 5 and 15 Mpa and the sliding velocity is from 0.05 to 0.9 m/s. A friction algorithm is developed and embedded in the FE model to simulate the friction of POM in different normal loads and sliding velocities. Findings The friction coefficient of POM against steel declines with the increase of normal loads when the contact pressure is between 5 and 15 Mpa. The friction coefficient of POM against steel increases markedly when the sliding velocity is between 0.05 and 0.15 m/s, it decreases sharply between 0.15-0.45 m/s and then it stabilizes at high sliding velocity between 0.45 and 0.9 m/s. The friction coefficient of POM in different working operations has a significant effect on contact stress and shear stress. The simulation data and experiment data of POM friction force fit very well; therefore, it can be concluded that the friction algorithm and FE model are accurate. Originality/value The friction coefficient of POM under a broad range of normal loads and sliding velocities is investigated. The friction coefficient model of POM is established as a function of normal loads and sliding velocities in the dry sliding condition. A friction algorithm is developed and embedded in the FE model of the friction of POM. The mathematical model of the friction coefficient accurately agrees with the experiment data, and simulation data and experiment data of the POM friction force fit very well.

scholarly journals Differential equations of the start of motion of elasticly coupled inert bodies on the example of a train with elastic couplings

2021 ◽  
pp. 45-51
Author(s):  
Igor Popov ◽  
Keyword(s):  
Mathematical Model ◽  
Differential Equations ◽  
Friction Force ◽  
Static Friction ◽  
The State ◽  
Structural Elements ◽  
Ground Vehicle ◽  
Inert Mass ◽  
The Moment ◽  
Elastic Couplings

The starting mode for a ground vehicle is the most difficult. An effective way to pull off a train is to select coupling clearances. In this case, the cars are set in motion consequently, and the inert mass, as well as the static friction force immediately at the moment of starting, are minimal. This method, however, has two significant drawbacks – a small fixed value of the gaps in the couplings, which limits the effectiveness of the method and the shock nature of the impulse transmission, which negatively affects the state of the structural elements of the train. These disadvantages can be avoided by using elastically deformable couplings. The aim of this work is to construct a mathematical model of "easy" starting of a train with elastic couplings. The softening of the starting mode of the train is essentially due to the replacement of the simultaneous starting of the sections with alternate ones.

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