V.I. Tarasov1, A.V. Kanygin2, I.A. Brich3

1 Russian Academy of National Economy and Public Administration
under the President of the Russian Federation (Moscow, Russia)
2,3 Bauman Moscow State Technical University (Moscow, Russia)
 

The main directions in the design and programming of vertical movement robots have certain operational risks, which form the basis of the reasons for the insufficient level of consideration of all possible scenarios. A common problem of such robots is the need to consider undesirable forces and moments when gripping devices (memory) are engaged on the support surface, which requires the introduction of malleability into the robot drives [1]. This problem can be solved by estimating the forces and moments in the links of the manipulator by the currents of the executive brushless motors [2].

The division of the robot's automatic control systems into several levels, depending on the functions they perform, will allow taking into account the fundamental features of the functioning of the systems. The formulation of the terms of reference objectively reflecting external operational factors for a specific urgent problem will allow us to develop options for the implementation of measures to prevent the destruction of robot components.

The design of the executive level of the vertical movement robot is considered, provided that the risks of destruction are minimized. The critical scenarios arising during the functioning of the robot are studied. The features and disadvantages of the four approaches are shown, and the design areas affected by these approaches are described.

The complex of developed methods makes it possible to improve the quality of design and programming of the RVP and reduce the risks of destruction of the RVP structure in the state of a closed kinematic system.

Tarasov V.I., Kanygin A.V., Brich I.A. Mitigating the risks of destruction of the vertical motion robot in some scenarios during its operation. Science Intensive Technologies. 2023. V. 24. № 1. P. 48−54. DOI: https://doi.org/10.18127/j19998465-202301-05 (in Russian)

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