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DC pole | Hodnota | Jazyk |
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dc.contributor.author | Савків, Володимир Богданович | |
dc.contributor.author | Михайлишин, Роман Ігорович | |
dc.contributor.author | Пісьціо, Вадим Петрович | |
dc.contributor.author | Козбур, Ігор Романович | |
dc.contributor.author | Духон, Франтішек | |
dc.contributor.author | Хованець, Любош | |
dc.contributor.author | Savkiv, Volodymyr | |
dc.contributor.author | Mykhailyshyn, Roman | |
dc.contributor.author | Piscio, Vadim | |
dc.contributor.author | Kozbur, Ihor | |
dc.contributor.author | Duchon, Frantisek | |
dc.contributor.author | Chovanec, Lubos | |
dc.date.accessioned | 2021-12-11T09:03:27Z | - |
dc.date.available | 2021-12-11T09:03:27Z | - |
dc.date.created | 2021-06-22 | |
dc.date.issued | 2021-06-22 | |
dc.date.submitted | 2021-05-29 | |
dc.identifier.citation | Investigation of object manipulation positioning accuracy by Bernoulli gripping devices in robotic cells / Volodymyr Savkiv, Roman Mykhailyshyn, Vadim Piscio, Ihor Kozbur, Frantisek Duchon, Lubos Chovanec // Scientific Journal of TNTU. — Tern. : TNTU, 2021. — Vol 102. — P. 21–36. | |
dc.identifier.issn | 2522-4433 | |
dc.identifier.uri | http://elartu.tntu.edu.ua/handle/lib/36042 | - |
dc.description.abstract | Забезпечення необхідної точності позиціонування об’єктів маніпулювання захоплювачами Бернуллі в робототехнічних комірках є актуальним завданням і може досягатися за рахунок вибору раціональних параметрів процесу захоплення. Проведено експериментальні дослідження процесу захоплення захоплювачами Бернуллі об’єктів маніпулювання при різних експлуатаційних параметрах та їх вазі. Для цього розроблена експериментальна установка, яка складається з промислового робота IRB 4600, контролера IRC5, мікроконтролера Raspberry Pi та двох мікрометрів годинникового типу. Представлено методику визначення сумарної похибки позиціонування системи «робот-захоплювач-об’єкт» що враховує похибки позиціювання промислового робота, похибки розміщення затискного пристрою та похибки базування об’єкта маніпулювання відносно осі симетрії захоплювального пристрою. Програмування промислового робота ABB IRB 1600 здіснювалось у середовищі ABB RobotStudio з метою циклічної імітації вантажно-розвантажувальної операції та визначення відхилення положення об’єкта маніпулювання після його захоплення з різної відстані. Перший цикл автоматичного режиму роботи використовувався для калібрування мікрометричних індикаторів. При цьому захоплення об’єкта здійснювалося з відстані, що дорівнювала 0.02 мм. Для кращої достовірності результатів досліджень проведено 20 циклів вимірювання для кожного зі змінюваних параметрів. У результаті встановлено, що максимальна похибка базування об’єктів не перевищує 0.4 мм. При захопленні об’єктів з відстані 0.5…1 мм середнє значення похибки базування становитиме 0.08…0.15 мм, при середньому квадратичному відхиленні – 0.025…0.035 мм. Проведено дослідження впливу зміщення Δ центру мас захоплюваного об’єкта відносно осі захоплювача Бернуллі на точність базування об’єктів. Встановлено, що при зміщеннях центру мас захоплюваних об’єктів відносно осі захоплювача Бернуллі до 20 мм максимальна похибка базування об’єктів зростає в 2.2 раза. | |
dc.description.abstract | Ensuring the necessary accuracy of positioning the objects of manipulation of Bernoulliʼs grippers in robotic cells is an urgent task and can be achieved by choosing rational parameters of the gripping process. The article conducts experimental studies of the process of handling by Bernoulli grippers of objects of manipulation at different operating parameters and their weight. For this purpose, an experimental setup was developed, which consists of an industrial robot IRB 4600, an IRC5 controller, a Raspberry Pi microcontroller and two clock-type micrometers. The method of determining the total positioning error of the "robot-gripper-object" system is presented, which takes into account the positioning errors of the industrial robot, the errors of the gripping device and the errors of basing the object of manipulation relative to the axis of symmetry of the gripping device. The ABB IRB 1600 industrial robot was programmed in the ABB RobotStudio environment to cyclically simulate the handling operation and to determine the deviation of the position of the manipulation object after its gripping from different distances. The first cycle of automatic mode was used to calibrate the micrometer indicators, while gripping the object was carried out from a distance of 0.02 mm. For better reliability of research results, 20 measurement cycles were performed for each of the variable parameters. As a result, it was found that the maximum base error of objects does not exceed 0.4 mm. When capturing objects from a distance of 0.5…1 mm, the mean value of the base error will be 0.08…0.15 mm, with a standard deviation of 0.025…0.035 mm. The paper studies the effect of the displacement Δ of the center of mass of the gripped object relative to the axis of the Bernoulli gripper on the accuracy of the base of the objects. It is established that when the center of mass of the gripped objects is shifted relative to the Bernoulli gripper axis up to 20 mm, the maximum base error of the objects increases 2.2 times. | |
dc.format.extent | 21-36 | |
dc.language.iso | en | |
dc.publisher | ТНТУ | |
dc.publisher | TNTU | |
dc.relation.ispartof | Вісник Тернопільського національного технічного університету (102), 2021 | |
dc.relation.ispartof | Scientific Journal of the Ternopil National Technical University (102), 2021 | |
dc.relation.uri | https://ifr.org/ | |
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dc.subject | промисловий робот | |
dc.subject | транспортування | |
dc.subject | маніпулювання | |
dc.subject | захоплювальний пристрій Бернуллі | |
dc.subject | точність | |
dc.subject | позиціонування | |
dc.subject | industrial robot | |
dc.subject | transportation | |
dc.subject | manipulation | |
dc.subject | Bernoulli gripping device | |
dc.subject | accuracy | |
dc.subject | positioning | |
dc.title | Investigation of object manipulation positioning accuracy by Bernoulli gripping devices in robotic cells | |
dc.title.alternative | Дослідження точності позиціонування об’єктів маніпулювання захоплювальними пристроями Бернуллі в робототехнічних комірках | |
dc.type | Article | |
dc.rights.holder | © Тернопільський національний технічний університет імені Івана Пулюя, 2021 | |
dc.coverage.placename | Тернопіль | |
dc.coverage.placename | Ternopil | |
dc.format.pages | 16 | |
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dc.identifier.citationen | Savkiv V., Mykhailyshyn R., Piscio V., Kozbur I., Duchon F., Chovanec L. (2021) Investigation of object manipulation positioning accuracy by Bernoulli gripping devices in robotic cells. Scientific Journal of TNTU (Tern.), vol. 102, pp. 21-36. | |
dc.identifier.doi | https://doi.org/10.33108/visnyk_tntu2021.02.021 | |
dc.contributor.affiliation | Тернопільський національний технічний університет імені Івана Пулюя, Тернопіль, Україна | |
dc.contributor.affiliation | Словацький технологічний університет в Братиславі, Братислава, Словацька Республіка | |
dc.contributor.affiliation | Ternopil Ivan Puluj National Technical University, Ternopil, Ukraine | |
dc.contributor.affiliation | Slovak University of Technology in Bratislava, Bratislava, Slovak Republic | |
dc.citation.journalTitle | Вісник Тернопільського національного технічного університету | |
dc.citation.volume | 102 | |
dc.citation.spage | 21 | |
dc.citation.epage | 36 | |
Vyskytuje se v kolekcích: | Вісник ТНТУ, 2021, № 2 (102) |
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