根据带有球形坐标系的操纵机器人的移动度开发程序化轨迹，用于去除商用镁生产过程中的氧化膜

Q3 Mathematics

Eastern-European Journal of Enterprise Technologies Pub Date : 2024-02-28 DOI:10.15587/1729-4061.2024.298912

Akambay Beisembayev, Anargul Yerbossynova, P.Yu. Pavlenko, Mukhit Baibatshayev

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引用次数: 0

摘要

本研究的目的是将从镁熔体表面去除氧化膜的技术操作机器人化，镁熔体被倒入连续移动的浇铸输送机模具中，用于生产商用镁。为实现该技术操作的机器人化，建议使用具有球形坐标系的双臂操作机器人，该机器人有六个移动度。根据操纵机器人在位置、速度和加速度方面的移动度开发了软件轨迹，以执行从倒入铸造传送带移动模具的镁熔体表面去除氧化膜的技术操作。程序轨迹由二次多项式描述，它满足对广义坐标、速度和加速度值的限制。这些限制由操纵机器人的设计特点和移动度驱动装置的能量能力决定。沿第一和第二自由度的编程轨迹可补偿铸造传送带上模具的连续运动。沿第三和第四自由度的程序轨迹可从镁熔体表面收集氧化膜。沿着第五和第六自由度的编程轨迹可将收集到的氧化膜排放到一个特殊容器中。使用 MATLAB R2015b 版本的模拟结果证实了所开发的编程轨迹的可靠性。基于这些结果，我们构建了一个用于控制操纵机器人的循环图，以执行在商品镁生产过程中去除氧化膜的技术操作。该结果可用于商业镁或类似铸造生产中去除氧化膜技术过程的机器人化。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of programmed trajectories based on the mobility degrees of manipulation robot with a spherical coordinate system for removing oxide film in the production of commercial magnesium

The object of this study is to robotize the technological operation of removing the oxide film from the surface of a magnesium melt poured into continuously moving molds of a casting conveyor for the production of commercial magnesium. To robotize this technological operation, it is proposed to use a two-armed manipulation robot with a spherical coordinate system, which has six degrees of mobility. Software trajectories have been developed according to the degrees of mobility of the manipulation robot in terms of position, speed, and acceleration to perform the technological operation of removing the oxide film from the surface of the magnesium melt poured into the moving molds of the foundry conveyor. Programmed trajectories are described by quadratic polynomials that satisfy restrictions on the values of the generalized coordinate, velocity, and acceleration. These limitations are determined by the design features and energy capabilities of the degrees of mobility drives of the manipulation robot. Programmed trajectories along the first and second degrees of freedom compensate for the continuous movement of the molds of the foundry conveyor. Programmed trajectories along the third and fourth degrees of mobility enable the collection of the oxide film from the surface of the magnesium melt. Programmed trajectories along the fifth and sixth degrees of freedom enable the discharge of the collected oxide film into a special container. The reliability of the developed programmed trajectories is confirmed by the simulation results using MATLAB version R2015b. Based on the results, a cyclogram for controlling a manipulation robot has been constructed to perform the technological operation of removing the oxide film in the production of commercial magnesium. The results could be used in the robotization of technological processes for removing the oxide film in the production of commercial magnesium or similar foundries

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来源期刊

Eastern-European Journal of Enterprise Technologies Mathematics-Applied Mathematics

CiteScore

2.00

自引率

0.00%

发文量

369

审稿时长

6 weeks

期刊介绍： Terminology used in the title of the "East European Journal of Enterprise Technologies" - "enterprise technologies" should be read as "industrial technologies". "Eastern-European Journal of Enterprise Technologies" publishes all those best ideas from the science, which can be introduced in the industry. Since, obtaining the high-quality, competitive industrial products is based on introducing high technologies from various independent spheres of scientific researches, but united by a common end result - a finished high-technology product. Among these scientific spheres, there are engineering, power engineering and energy saving, technologies of inorganic and organic substances and materials science, information technologies and control systems. Publishing scientific papers in these directions are the main development "vectors" of the "Eastern-European Journal of Enterprise Technologies". Since, these are those directions of scientific researches, the results of which can be directly used in modern industrial production: space and aircraft industry, instrument-making industry, mechanical engineering, power engineering, chemical industry and metallurgy.