Documente Academic
Documente Profesional
Documente Cultură
roboilor industriali
2014-2015
1.Stabilirea schemei cinematice
n elaborarea procesului technologic s-a utilizat robotul Fanuc LR Mate 100iB,
model prezentat n figura 1.1. n figura 1.2. se poate vedea reprezentarea
schemei cinematice a acestui robot cu 5 grade de libertate.
Structura mecanic a robotului este alctuit din ansamble connectate prin 5 cuple
motoare de gradul cinci adic rotaie. Ea este descris de vectorul coloan al
coordonatelor generalizate i vectorul coloan al coordonatelor
operaionale. n tabelul 4.1. Se prezint structura mecanic a robotului
Fanuc Mate 100iB.
Elemen Tipul p(i0 )T k i
(0)
t cuplei <mm> -
i=16
1 R 0 0 350 0 0 1
2 R 0 150 350 1 0 0
3 R 0 150 600 1 0 0
4 R 0 370 600 1 0 0
5 R 0 450 600 0 1 0
6 - 0 150 600 1 0 0
4.2.Generarea ecuaiilor modelului geometric
0
n matricea 6[T ] este prezentat forma final a calculelor. Ia prezint ecuaiile de variaie a poziiei efectorului final n raport cu sistemul {0} asociat bazei.
Pentru a cerceta traiectoriile robotului Fanuc Mate 100iB, echipa Chess Masters a ales
ca aplicaie jocul de sah. n procesul tehnologic robotul face ultimele micri n cadrul unei
partied de ah pe care o ctig.
n figura 6.1. putem vedea poziia iniial a pieselor. Robotul mut 3 de pe table de
ah iar mai apoi rstoarn regale nainte s reia poziia de zero.
Pozitia Timp i J1 J2 J3 J4 J5
P[i]
P[1] 0 0 0 0 0 0
GO 0
P[2] 1.233 -5.055 39.350 -37.889 -52.111 5.055
P[3] 4.056 -5.055 47.192 -47.465 -42.535 5.055
GC 4.206
P[4] 5.254 -5.055 37.714 -35.545 -54.546 5.055
P[5] 5.554 -9.086 48.552 -29.196 -60.742 1.146
P[6] 8.999 -10.082 57.704 -34.601 -55.321 -1.299
GO 9.149
P[7] 9.948 -10.082 51.404 -26.421 -63.501 -1.297
P[8] 11.845 -1.720 75.577 -1.306 -88.616 -1.299
P[9] 14.533 -1.720 78.235 -8.959 -80.962 -1.299
GC 14.708
P[10] 15.407 -1.721 75.601 -1.574 -88.394 -1.299
P[11] 15.873 0.834 76.181 -2.694 -87.229 -1.301
P[12] 18.145 0.834 78.640 -8.787 -81.136 -1.302
GO 18.319
P[13] 19.310 0.833 76.632 4.586 -94.512 -1.290
P[14] 22.746 8.416 28.046 -42.714 -47.213 84.606
P[15] 27.290 8.416 40.737 -58.166 -31.761 84.606
GC 27.348
P[16] 28.397 8.415 29.283 -44.502 -45.427 84.594
P[17] 29.387 1.934 33.935 -50.885 -39.044 84.594
P[18] 31.600 1.934 40.531 -58.212 -37.717 84.594
GO 31.775
P[19] 33.057 -1.261 25.934 -43.169 -46.382 2.280
P[20] 35.853 1.707 63.038 -10.221 -79.330 2.280
P[21] 36.551 1.707 67.698 -18.982 -70.569 2.281
GC 36.668
P[22] 37.717 1.707 67.698 -18.982 -56.696 2.331
P[23] 37.949 1.707 46.828 -18.982 -56.696 2.331
P[1] 39.998 0 0 0 0 0
[ ]
1 1 0 0 0 0 0
1.0032 1.3376 0.3344 0 0 0 0
0.6710 1.3420 0 0.2237 0 0 0
A= 0 0 1 1 1 0 0
0 0 0.3344 0.6688 1.0032 1.0032 1.3376
0 0 0 0.2237 0.6710 0.6710 1.3420
0 0 0 0 0 1 1
2.7500 1.1214 0.9315 0.5000 0.3738 0.1863 0.2500
1.7500 1.1214 0.9315 0.5000 0.3738 0.1863 0.2500
1.2500 1.8690 0.9315 0.5000 0.3738 0.1863 0.2500
2.2500 3.3641 1.6766 1.5000 1.1214 0.5589 0.7500
1 1.4952 0.7452 1 1.4952 0.7452 1
0.2500 0.3738 0.1863 0.5000 1.1214 0.9315 2.7500
0.2500 0.3738 0.1863 0.5000 1.1214 0.9315 1.7500
1
A =
[ ]
0.0146 0 0 0.1103 0.0662
a= 0.0587 0.0662 0.0662 0.0441 0
0.1469 0 0 0.1103 0.0662
pentru segmentul 1.
4 3
h11 ( t )=0.0662t + 0.1103 t 0.0146
1
v 11 ( t )= (0.2648t 3 +0.3309 t 2 )
t1
1
a11 ( t )= 2 (0.7944 t 2 +0.6618 t)
t1
pentru segmentul 2
h12 ( t )=0.0441 t 30.0662 t 2 +0.0662 t0.0587
1
v 12 (t )= (0.1323 t 20.1324 t +0.0662)
t2
1
a12 (t )= 2 (0.2646 t0.1324 )
t2
pentru segmentul 3
4 3 2
h13 (t )=0.0662t + (0.2648+0.1103 ) t + ( 0.39720.3309 ) t + (0.2648+ 0.3309 ) t +( 0.06620.1103+
0.79440.6618
3 2
0.2648 t + (0.7944+ 0.3309 ) t +() t+ (0.2648+0.3309 )
1
v13 ( t ) =
t3
1
a13 ( t )= 2 [0.7944 t 2 + (1.5888+ 0.6618 ) t + ( 0.79440.6618 ) ]
t3
Faza 5. Cupla 2.
[ ]
1 1 0 0 0 0 0
3.0272 4.0363 0.2910 0 0 0 0
6.1095 12.2190 0 0.1694 0 0 0
A= 0 0 1 1 1 0 0
0 0 0.2910 0.5821 0.8731 0.6602 0.8803
0 0 0 0.1694 0.5082 0.2906 0.5812
0 0 0 0 0 1 1
2.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
1.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
5.9281 2.9374 0.4852 0.1888 0.1501 0.1137 0.0661
10.4674 5.1866 0.8567 1.9638 1.5611 1.1822 0.6871
4.5393 2.2492 0.3715 1.1526 1.7111 1.2959 0.7531
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 2.9166
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 1.9166
A1=
[ ]
1.3725 0 0 0.0299 0.0052
a= 1.3375 0.3825 1.4506 0.9851 0
0.7110 0 0 1.3202 1.0987
Figura 10.7. Cupla 2, segmental 1 Figura 10.8. Cupla 2, segmental 2
pentru segmentul 1.
h21 ( t )=0.0052 t 40.0299 t 3+ 1.3725
1 3 2
v 21 (t )= (0.0208 t 0.0897 t )
t1
1
a21 ( t )= 2 (0.0624 t 20.1794 t )
t1
pentru segmentul 2
h22 ( t )=0.9851t 31.4506 t 2 0.3825 t+1.3375
1
v 22 (t )= (2.9553 t 22.9012t0.3825)
t2
1
a22 ( t )= 2 (5.9106 t2.9012)
t2
pentru segmentul 3
h23 ( t )=1.0987 t 4 + (4.3948+ 1.3202 ) t 3+ ( 6.59223.9606 ) t 2 + (4.3948+3.9606 ) t +(1.09871.3202+
13.18447.9212
4.3948 t + (13.1844+ 3.9606 ) t 2 +()t+ (4.3948+3.9606 )
3
1
v 23 ( t )=
t3
1
a23 ( t ) = 2 [13.1844 t 2+ (26.3688+7.9212 ) t+ (4.3948+ 3.9606 ) ]
t3
Faza 5. Cupla 3.
[ ]
1 1 0 0 0 0 0
3.0272 4.0363 0.2910 0 0 0 0
6.1095 12.2190 0 0.1694 0 0 0
A= 0 0 1 1 1 0 0
0 0 0.2910 0.5821 0.8731 0.6602 0.8803
0 0 0 0.1694 0.5082 0.2906 0.5812
0 0 0 0 0 1 1
2.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
1.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
5.9281 2.9374 0.4852 0.1888 0.1501 0.1137 0.0661
10.4674 5.1866 0.8567 1.9638 1.5611 1.1822 0.6871
4.5393 2.2492 0.3715 1.1526 1.7111 1.2959 0.7531
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 2.9166
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 1.9166
A1=
[ ]
0.1534 0 0 0.5744 0.3410
a= 0.0800 1.2456 3.8790 1.8079 0
1.0152 0 0 0.3611 0.6308
pentru segmentul 1.
h31 ( t )=0.254 9 t 4 +0.3838 t 30.1564
1
v 31 (t )= (1.0196 t 3 +1.1514 t 2)
t1
1
a31 (t )= 2 (3.0588 t 2 +2.3028 t)
t1
pentru segmentul 2
h32 ( t )=0.0607 t 30.1680 t 2+ 0.0878 t0.0275
1
v 32 (t )= (0.1821 t 20.3360 t+0.0878)
t2
1
a32 (t )= 2 (0.3642 t0.3360)
t2
pentru segmentul 3
4 3 2
h33 (t )=0.0041t + (0.01640.1023 ) t + ( 0.0246+ 0.3069 ) t + (0.01640.3069 ) t +(0.4864+ 0.102
0.0492+ 0.6138
0.0164 t + (0.04920.3069 ) t 2 +() t+ (0.01640.3069 )
3
1
v 33 ( t )=
t3
1
a33 ( t )= 2 [0.0492t 2 + (0.09840.6138 ) t + ( 0.0492+0.6138 ) ]
t3
Faza 5. Cupla 4.
[ ]
1 1 0 0 0 0 0
3.0272 4.0363 0.2910 0 0 0 0
6.1095 12.2190 0 0.1694 0 0 0
A= 0 0 1 1 1 0 0
0 0 0.2910 0.5821 0.8731 0.6602 0.8803
0 0 0 0.1694 0.5082 0.2906 0.5812
0 0 0 0 0 1 1
2.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
1.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
5.9281 2.9374 0.4852 0.1888 0.1501 0.1137 0.0661
10.4674 5.1866 0.8567 1.9638 1.5611 1.1822 0.6871
4.5393 2.2492 0.3715 1.1526 1.7111 1.2959 0.7531
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 2.9166
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 1.9166
1
A =
[ ]
1.4131 0 0 0.3868 0.2571
a= 1.5428 0.0880 0.1698 0.0615 0
1.4161 0 0 0.0975 0.0088
pentru segmentul 1.
h41 ( t ) =0.2571t 4 0.3868 t 31.4131
1
v 41 ( t ) = (1.0284 t 31.1604 t 2 )
t1
1
a 41 ( t ) = 2 (3.0852t 22.3208 t)
t1
pentru segmentul 2
h42 ( t ) =0.0615 t 3+ 0.1698 t 20.0880t1.5428
1 2
v 42 ( t ) = (0.1845 t + 0.3396t0.0880)
t2
1
a 42 ( t ) = 2 (0.3690 t + 0.3396)
t2
pentru segmentul 3
4 3 2
h43 ( t ) =0.0088t + ( 0.0352+0.0975 ) t + (0.05280.2925 ) t + ( 0.0352+0.2925 ) t +(0.00880.097
0.10560.5850
0.0352t + ( 0.1056+0.2925 ) t 2 +()t + ( 0.0352+0.2925 )
3
1
v 43 ( t )=
t3
1
a 43 ( t )= 2 [0.1056 t 2+ ( 0.2112+0.5850 ) t+ (0.10560.5850 ) ]
t3
Faza 5. Cupla 5.
[ ]
1 1 0 0 0 0 0
3.0272 4.0363 0.2910 0 0 0 0
6.1095 12.2190 0 0.1694 0 0 0
A= 0 0 1 1 1 0 0
0 0 0.2910 0.5821 0.8731 0.6602 0.8803
0 0 0 0.1694 0.5082 0.2906 0.5812
0 0 0 0 0 1 1
2.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
1.2902 0.1438 0.1399 0.0545 0.0433 0.0328 0.0191
5.9281 2.9374 0.4852 0.1888 0.1501 0.1137 0.0661
10.4674 5.1866 0.8567 1.9638 1.5611 1.1822 0.6871
4.5393 2.2492 0.3715 1.1526 1.7111 1.2959 0.7531
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 2.9166
1.8366 0.9101 0.1503 0.8710 2.0826 1.8641 1.9166
1
A =
[ ]
0.0227 0 0 0 0
a= 0.0227 0 0 0 0
0.0227 0 0 0 0
Figura 10.19. Cupla 5, segmental 1 Figura 10.20. Cupla 5, segmental 2
pentru segmentul 1.
h51 ( t )=0.0227
v 51 (t )=0
a51 (t )=0
pentru segmentul 2
h52 ( t )=0.0227
v 52 (t )=0
a52 (t )=0
pentru segmentul 3
h53 (t )=0.0227
v 53 ( t )=0
a53 ( t )=0