Wyniki wyszukiwania - BazTech

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Issledovanie vliania effekta vrasenia detali nabezotkaznost processa robotizirovannoj sborki

Vartanov M. V., Zinina I. N., Čung Ta

Technologia i Automatyzacja Montażu

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2018

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nr 4

58--62

EN

The main stage of automatic assembly is the process of parts mating. At this stage, there are problems associated with the probability of jamming the parts. To solve this problem, adaptive assembly heads are usually used. However, known dynamic models and control algorithms based on them relate to plane-parallel motion. In this case, considerable frictional forces arise that preventing coupling. The article deals with the assembly method using the rotational motion effect of the installed part. The presence of rotation makes it possible to significantly reduce the part of the friction force, which prevents the movement of the part. In this case, the task becomes spatial. A dynamic model of the coupling process with the use of the industrial robot ABB IRB140, equipped with an adaptive head, which has the ability to rotate about its own axis, is constructed. The rotation is realized by the kinematics of the output link of the robot. The mathematical model of the coupling process is considered in the form of Lagrange equations of the second kind. Two cases are considered: with the installation without contact with the chamfer and with the slip on the chamfer. The resulting systems of differential equations allow us to investigate the process of a robotic assembly using the effect of rotation of the gripper. On the basis of mathematical models, both direct and inverse tasks of dynamics can be solved. The created mathematical model will be used to determine the conditions of the robotic assembly using the adaptation and the rotation effect of the part.

2

Effect of rotation in an orthotropic elastic slab

Santra S., Lahiri A., Das N. C.

International Journal of Applied Mechanics and Engineering

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2017

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Vol. 22, no. 1

163--174

EN

The fundamental equations of the two dimensional generalized thermoelasticity (L-S model) with one relaxation time parameter in orthotropic elastic slab has been considered under effect of rotation. The normal mode analysis is used to the basic equations of motion and heat conduction equation. Finally, the resulting equations are written in the form of a vector-matrix differential equation which is then solved by the eigenvalue approach. The field variables in the space time domain are obtained numerically. The results corresponding to the cases of conventional thermoelasticity CTE), extended thermoelasticity (ETE) and temperature rate dependent thermoelasticity (TRDTE) are compared by means of graphs.

3

The effect of rotation and thermal shock on a perfect conducting elastic half-space in generalized magneto-thermoelasticity with two relaxation times

Othman M. I. A.

Mechanics and Mechanical Engineering

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2010

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Vol. 14, nr 1

31-55

EN

The propagation of electromagneto-thermoelastic disturbances produced by a thermal shock in a perfectly conducting elastic half-space when the entire elastic medium is rotating with a uniform angular velocity is investigated. The problem is in the context of the Green and Lindsay's generalized thermoelasticity with two relaxation times. There acts an initial magnetic field parallel to the plane boundary of the half-space. The medium deformed because of thermal shock, and due to the application of the magnetic field. The normal mode analysis is used to obtain the exact expressions for the considered variables. The distributions of the considered variables are represented graphically. From the distributions, it can be found the wave type heat propagation in the medium. This indicates that the generalized heat conduction mechanism is completely different from the classic Fourier's in essence. In generalized thermoelasticity theory heat propagates as a wave with finite velocity instead of infinite velocity in medium. Comparisons are made wit h the results predicted by the coupled theory in present and absent rotation.