工业机器人操纵偏置碟形天线坯及其形状控制的夹持装置

IF 1.3 4区工程技术 Q3 TRANSPORTATION SCIENCE & TECHNOLOGY

Transport Pub Date : 2021-03-30 DOI:10.3846/TRANSPORT.2021.14622

V. Savkiv, Roman Mykhailyshyn, P. Maruschak, V. Kyrylovych, F. Duchoň, Lubos Chovanec

{"title":"工业机器人操纵偏置碟形天线坯及其形状控制的夹持装置","authors":"V. Savkiv, Roman Mykhailyshyn, P. Maruschak, V. Kyrylovych, F. Duchoň, Lubos Chovanec","doi":"10.3846/TRANSPORT.2021.14622","DOIUrl":null,"url":null,"abstract":"Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.","PeriodicalId":23260,"journal":{"name":"Transport","volume":"74 1","pages":""},"PeriodicalIF":1.3000,"publicationDate":"2021-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"GRIPPING DEVICES OF INDUSTRIAL ROBOTS FOR MANIPULATING OFFSET DISH ANTENNA BILLETS AND CONTROLLING THEIR SHAPE\",\"authors\":\"V. Savkiv, Roman Mykhailyshyn, P. Maruschak, V. Kyrylovych, F. Duchoň, Lubos Chovanec\",\"doi\":\"10.3846/TRANSPORT.2021.14622\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.\",\"PeriodicalId\":23260,\"journal\":{\"name\":\"Transport\",\"volume\":\"74 1\",\"pages\":\"\"},\"PeriodicalIF\":1.3000,\"publicationDate\":\"2021-03-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Transport\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.3846/TRANSPORT.2021.14622\",\"RegionNum\":4,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"TRANSPORTATION SCIENCE & TECHNOLOGY\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Transport","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.3846/TRANSPORT.2021.14622","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"TRANSPORTATION SCIENCE & TECHNOLOGY","Score":null,"Total":0}

引用次数: 13

摘要

本发明提出了一种工业机器人的自适应夹持装置，该装置将捕获不同形状的操作对象的功能与控制偏离这些对象形状的功能相结合。该装置是一个t形框架，上面有三个伯努利手柄和一个气动传感器。给出了自适应夹持装置设计参数的确定和各伯努利夹持装置所需提升力的计算的解析依赖关系。导出了气动传感器在夹持装置框架上的位置确定公式。在ANSYS-CFX软件环境下，对协同BGD曲面与偏置镜天线板空白间隙内的气流动力学进行了数值模拟。模拟基于粘性气体动力学的reynolds - average Navier-Stokes (RANS)方程、湍流的剪切应力输运(SST)模型和层流-湍流过渡的y模型。通过仿真，确定了偏置反射镜天线表面曲率半径对BGD功率特性的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

GRIPPING DEVICES OF INDUSTRIAL ROBOTS FOR MANIPULATING OFFSET DISH ANTENNA BILLETS AND CONTROLLING THEIR SHAPE

Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Transport Engineering-Mechanical Engineering

CiteScore

3.40

自引率

5.90%

发文量

审稿时长

4 months

期刊介绍： At present, transport is one of the key branches playing a crucial role in the development of economy. Reliable and properly organized transport services are required for a professional performance of industry, construction and agriculture. The public mood and efficiency of work also largely depend on the valuable functions of a carefully chosen transport system. A steady increase in transportation is accompanied by growing demands for a higher quality of transport services and optimum efficiency of transport performance. Currently, joint efforts taken by the transport experts and governing institutions of the country are required to develop and enhance the performance of the national transport system conducting theoretical and empirical research. TRANSPORT is an international peer-reviewed journal covering main aspects of transport and providing a source of information for the engineer and the applied scientist. The journal TRANSPORT publishes articles in the fields of: transport policy; fundamentals of the transport system; technology for carrying passengers and freight using road, railway, inland waterways, sea and air transport; technology for multimodal transportation and logistics; loading technology; roads, railways; airports, ports, transport terminals; traffic safety and environment protection; design, manufacture and exploitation of motor vehicles; pipeline transport; transport energetics; fuels, lubricants and maintenance materials; teamwork of customs and transport; transport information technologies; transport economics and management; transport standards; transport educology and history, etc.