The presented paper scientifically discusses the progressive diagnostics of electrical drives in robots with sensor support. The AI (artificial intelligence) model proposed by the authors contains ...the technical conditions of fuzzy inference rule descriptions for the identification of a robot drive’s technical condition and a source for the description of linguistic variables. The parameter of drive diagnostics for a robotized workplace that is proposed here is original and composed of the sum of vibration acceleration amplitudes ranging from a frequency of 6.3 Hz to 1250 Hz of a one-third-octave filter. Models of systems for the diagnostics of mechatronic objects in the robotized workplace are developed based on examples of CNC (Computer Numerical Control) machine diagnostics and mechatronic modules based on the fuzzy inference system, concluding with a solved example of the multi-criteria optimization of diagnostic systems. Algorithms for CNC machine diagnostics are implemented and intended only for research into precisely determined procedures for monitoring the lifetime of the mentioned mechatronic systems. Sensors for measuring the diagnostic parameters of CNC machines according to precisely determined measuring chains, together with schemes of hardware diagnostics for mechatronic systems are proposed.
Specialized robotic workplaces or systems are not only a complex issue, but at the same time they are financially demanding in the field of production, especially, when the prototypes essential for ...mechanical engineering or forestry are concerned. Such a robotic workplace calls for an original project of a small series production and the proposed virtual environment meets the requirements for the verification of the technological properties, reliability and construct possibilities of the prototypes. The specialized robotic workplace is an interactively described 3D object and is programmable in accordance with the real environment requirements. Virtual technologies represent a convenient solution for the preparation of a safe ergonomic, economic and environmental workplace.
An optimally-tuned PID control for a transport robot actuator based on an induction motor was developed. Continuous-discrete and continuous mathematical models of the actuator were obtained. The ...parametric synthesis of PID controller on the basis of continuous and discrete actuator models were performed. Numerical simulations using SimInTech for the adaptive regulator taking into account the cargo weight (from empty to maximum loaded) were carried out. The scheme of automatic selection of actuator PID coefficients considering the cargo weight was proposed. The scheme of automatic selection of coefficients of PID regulator for an actuator with regard to the cargo weight was suggested. As a result of parametric synthesis of discrete PID control law optimum values of its amplification coefficients were determined. There was no overcontrol and the transient time, which satisfied the initial requirements for the optimization of the control algorithm by angular velocity.
Robots with complex motion paths are very rarely designed. The main obstacle is the lack of the necessary mathematical apparatus, despite the fact that the theory was proposed by Newton. We managed ...to formulate a new method for obtaining linear transformation parameters. It can be used for ellipse, hyperbola, as well as for other complex flat differentiable curves. A theorem for receiving the values of a transformed curve is formulated in the general case. The theoretical algorithm and the results of experimental studies using the geometric modeling method are presented. The proposed method works for all test curves, but this does not mean that it can always be used. Separation of the characteristic equation imposes additional complexity. Additional research is necessary, but it can be applied to many mechatronic frameworks now.
A mathematical model of induction motor (IM) based on the second Kirchhoff’s law with Maxwell’s equation taken into account has been developed. A mathematical model of a three-phase induction motor ...with a short-circuited rotor in phase axes without taking into account the saturation of the magnetic circuit and the losses in steel has been elaborated. A nonlinear model of asynchronous motor in the state space in the rotating system (d-q) of coordinates synchronized with the stator flux and a simulation model of IM in MatLab/Simulink software, with the possibility of setting angular velocity of rotation and resistance torque, have also been developed. The model-oriented design of the control program is performed on the example of digital signal processors from Texas Instruments on the LAUNCHXL-F28379D board. This description of the dynamics provides a direct insight into the physical processes in IMs. The advantage of the considered mathematical description of electromechanical energy conversion processes in three-phase IM is that it uses instantaneous values of currents and voltages of stator and rotor winding phases as variables.
QR (quick response) Codes are one of the most popular types of two-dimensional (2D) matrix codes currently used in a wide variety of fields. Two-dimensional matrix codes, compared to 1D bar codes, ...can encode significantly more data in the same area. We have compared algorithms capable of localizing multiple QR Codes in an image using typical finder patterns, which are present in three corners of a QR Code. Finally, we present a novel approach to identify perspective distortion by analyzing the direction of horizontal and vertical edges and by maximizing the standard deviation of horizontal and vertical projections of these edges. This algorithm is computationally efficient, works well for low-resolution images, and is also suited to real-time processing.
The article deals with the research of the supplementation of industrial robot effector trajectory’s control systems by an inertial navigation system. The method of reverse validation and location of ...an object in a navigated reference system does not require additional calibration. The goal of the research is to verify the assumption that it is possible to control and correct the programmed mobile robot trajectory by implementing an inertial navigation system even in a case when the inertial navigation system is used as the only trajectory control device. The data obtained are processed by the proposed and detailed application.
This paper describes the system activity and the importance of autonomous inertial navigation system /INS/ and its implementation to control the robotic arm. The article further introduces the ...execution of DC motor regulation utilized for the positioning of a rotary positioned arm. The motor control comprises the current regulation, angular velocity and the rotation of the motor shaft fixed to the arm regarding the required angular change course of the arm rotation. The regulation structure of the DC motor is carried out in MATLAB/Simulink programme. The arm movement is investigated via mathematical model and virtual dynamic model formed in MSC ADAMS programme.
Vibration Diagnostics of Spiroid Gear Nikitin, Yury; Božek, Pavol; Turygin, Alexander
Management systems in production engineering,
03/2022, Letnik:
30, Številka:
1
Journal Article
Recenzirano
Odprti dostop
Spiroid gear is one of the progressive varieties of intersecting axis gears. It has a number of advantages: increased overlap coefficient, favourable contact conditions. Spiroid gears are notable for ...high loading and overloading ability, increased smooth running and less sensitivity to manufacturing and assembly errors, high reliability and durability. The analysis of the results of experiment on research of vibration of the spiroid gear PS-124 has shown, that the vibration level at frequency 200-300 Hz is reduced on 5 dB at increase of the resistance moment up to 1000 Nm at clockwise rotation of the reducer and at increase of the resistance moment up to 800 Nm at counterclockwise rotation of the reducer. The vibration level at frequency 700-800 Hz is also increased on 5 dB at increase of the resistance moment up to 1000 Nm at clockwise rotation of the reducer and at increase of the resistance moment up to 800 Nm. If these vibration levels are exceeded, a defect is likely to occur. Economic efficiency of application of diagnostics systems is caused by increase of reliability and quality, reduction of accidents, decrease in defects, reduction of idle time of expensive equipment, reduction of expenses for maintenance and repair.
PDF
