GRIPPING DEVICES OF INDUSTRIAL ROBOTS FOR MANIPULATING OFFSET DISH ANTENNA BILLETS AND CONTROLLING THEIR SHAPE

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY Accounts of Chemical Research Pub Date : 2021-03-30 DOI:10.3846/TRANSPORT.2021.14622

V. Savkiv, Roman Mykhailyshyn, P. Maruschak, V. Kyrylovych, F. Duchoň, Lubos Chovanec

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引用次数: 13

Abstract

Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.

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工业机器人操纵偏置碟形天线坯及其形状控制的夹持装置

本发明提出了一种工业机器人的自适应夹持装置，该装置将捕获不同形状的操作对象的功能与控制偏离这些对象形状的功能相结合。该装置是一个t形框架，上面有三个伯努利手柄和一个气动传感器。给出了自适应夹持装置设计参数的确定和各伯努利夹持装置所需提升力的计算的解析依赖关系。导出了气动传感器在夹持装置框架上的位置确定公式。在ANSYS-CFX软件环境下，对协同BGD曲面与偏置镜天线板空白间隙内的气流动力学进行了数值模拟。模拟基于粘性气体动力学的reynolds - average Navier-Stokes (RANS)方程、湍流的剪切应力输运(SST)模型和层流-湍流过渡的y模型。通过仿真，确定了偏置反射镜天线表面曲率半径对BGD功率特性的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.