Corresponding author: Loshickiy Peter A., Ph. D., Senior Researcher, Central Research and Development Institute for Robotics and Technical Cybernetics, St.-Petersburg, Russian Federation, e-mail: p.loshitskiy@rtc.ru

Received on June 11, 2014
Accepted March 23, 2015

The purpose of this article is to present an example of an industrial manipulator, a possibility of successful application of power shell elements such as a pneumatic muscle as an actuator. The power shell elements have such advantages as low weight, high power density, high speed, no backlash and dry friction in the moving parts. These advantages make the power shell elements a promising actuator for various robotic systems, including manipulation. A manipulator's design calculation and its kinematic scheme make it suitable to work in the assembly lines and implement the function of sort or rejection of products. To meet these requirements, the calculation is based on the manipulator's working efficiency of 60—90 cycles per minute and capacity of up to 2 kg. These initial data present an important problem of reduction the inertia of the boom geometry. This problem is solved due to certain power actuators of the shell elements and use of the passive degrees of freedom. The article presents a possible kinematic scheme for such a manipulator, its external appearance and approximate weight and size parameters of its units. In the article the manipulator's characteristics are proved by the static and dynamic calculations. The static analysis took into consideration the current weight loads from the parts of the manipulator in its various configurations. The dynamic analysis of the selected parts of the trajectory of the manipulator is based on the most optimal mode in terms of the emerging dynamic loads and the calculations are done with their account. In order to prove a possibility of application of the force elements as actuators of the manipulator, the total load is presented, which is exerted on them by the movement of the manipulator jib, and which is compared with the characteristics of the power shell elements. At the end of the article the conclusions and analysis of the results are presented.

Keywords: power shell component, pneumatic actuator, manipulator

For citation:
Loshitskiy P. A., Shehovcova E. E. Calculation and Simulation of an Industrial Manipulator on the Power of the Shell Elements, Mekhatronika, Avtomatizatsiya, Upravlenie, 2015, vol. 16, no. 7, pp. 470—475.
DOI: 10.17587/mau.16.470-475

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