Mathematical design of gantry robots for automating assembly processes
Artikel i vetenskaplig tidskrift, 1989

A methodology for an automatic selection of the structural schema and the parameters of an assembly robot based on an optimization procedure is described. A finite collection of so-called test positions for the operating element which are determined by the robot purpose and by its characteristic movements is specified. The dynamic, strength, etc. characteristics are computed at these test positions for each structural schema and the constraints for the optimization problem are formulated. The procedure for selecting the structural schema of the robot and its technical parameters consists of minimizing some functional for the indicated constraints. An example of computing the parameters of a gantry robot is given.

Mathematical design

Automating assembly processes

Gantry robot

Författare

Viktor Berbyuk

Dynamik

Ivakh Georgii

Soviet journal of computer and systems sciences

0882-4002 (ISSN)

Vol. 27 2 1-8

Ämneskategorier

Maskinteknik

Beräkningsmatematik

Robotteknik och automation

Datorseende och robotik (autonoma system)

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Senast uppdaterat

2021-04-14