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Wyznaczenie optymalnej orientacji chwytaka robota montażowego

Kluz R.

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

2009

z. 76 [261]

197-203

It the results of measurements in article were introduced was and the statistical investigations of mistake of cpeatability the gripper of robot. It the mathematical model was proposed was the giving the possibility of definition of optimum orientation gripper also, assuring the the best parameters of process of breeding of part the as well as maximum probability of assembly of cylindrical parts.

Mechatronowa technologia montażu ze wzbudzaniem w połączeniach mikrodrgań o małej częstotliwości i dokładnym ukierunkowaniu

Nikołajew W.

Zeszyty Naukowe Politechniki Rzeszowskiej. Mechanika

2008

z. 72 [251]

59-65

Technological dimensional chains identifying separate stages of the robot-based assembly process have been found. Allowance constraints specified for the dimensions of the structure's elements have been schematically represented The necessity to initially identify errors in the parts to be put together and then automatically correct the kinematic and force parameters of the motion has been shown. Requirements to the exactitude of repeating the movements assigned to provide quality assembly have been identified. Excitation of low-frequency oscillations in the joint structures has proved to allow both initiation of events occurring in real units and control under present conditions. Application of the developed mechatronic assembly technology has been considered.