Mathematical design of gantry robots for automating assembly processes

• 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.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Maskinteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Mechanical Engineering (hsv//eng)

NATURVETENSKAP  -- Matematik -- Beräkningsmatematik (hsv//swe)

NATURAL SCIENCES  -- Mathematics -- Computational Mathematics (hsv//eng)

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)

Nyckelord

Automating assembly processes

Gantry robot

Mathematical design

Publikations- och innehållstyp

art (ämneskategori)

ref (ämneskategori)