Godunko M. Improvement forces and functional descriptions of grippers of robots for machine-tool complexes

A research object is features of structure and exploitation of grippers of industrial robots with prismatic clamping elements in turning robotizet complex. The purpose of work consists in the improvement of power and functional descriptions of grippers of industrial robots with prismatic clamping elements for turning robotizet complexes on the basis of grounds of their rational structural parameters taking into account external environments. Research methods - theoretical researches were based on the substantive provisions of analytical mechanics, theory of mechanisms and machines, resistance of materials, robots, turning robotizet complexes, technological rigging and technology of engineer, and also on the developed experimental devices for static and dynamic researches of grippers, and computer design of power and functional descriptions of grippers. Dissertation is devoted the problem of improvement of power and functional descriptions of grippers of industrial robots with prismatic clamping elements for machine-tool complexes on the basis of grounds of their rational structural parameters. The kinematics and forces structure of grippers is first developed for the search of the most expedient implementations of grippers. The system of indexes of estimation of quality is offered grippers, for the complex estimation of quality of implementation and functioning of grippers. The method of determination of necessary forces of clamp is created of grippers of industrial robots, taking into account the orientation grippers, his structural features and terms of manipulation a detail. Analytical dependences are got for the estimation of influence of structural parameters grippers on forces of clamp of the retained details and their adequacy is experimentally confirmed. The methods of determination of range of sizes of the retained details are developed, lengths of shoulders of appendix of forces of clamp, exactnesses of position of the retained detail in grippers and the analysis of influence of structural parameters and operating conditions is conducted grippers on functional descriptions. The complex estimation of influence of structural parameters is executed grippers on their power and functional descriptions with the use of the developed software. On results researches practical recommendations are developed on planning grippers, bases of modularity of their construction are formed and basic directions of the effective use of grippers are certain in composition of the robot-technological complexes.