 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
|
| In English (Mech. Solids): | | 4760 |
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| << Previous article | Volume 57, Issue 6 / 2022 | Next article >> |
| E.I. Vorobev, "Implementation of the Given Relative Spherical and Screw Motions of Two Solids by a Two-Armed Robot," Mech. Solids. 57 (6), 1291-1299 (2022) |
| Year |
2022 |
Volume |
57 |
Number |
6 |
Pages |
1291-1299 |
| DOI |
10.3103/S0025654422060127 |
| Title |
Implementation of the Given Relative Spherical and Screw Motions of Two Solids by a Two-Armed Robot |
| Author(s) |
E.I. Vorobev (Mechanical Engineering Research Institute of the Russian Academy of Sciences, Moscow, 101990, Russia, evgeniv36@mail.ru) |
| Abstract |
The article solves the problem of realizing a given relative motion of two solids by a twoarmed robot having two manipulators with rotational and translational drives. The bodies are considered to be rigidly fixed with the working links of the manipulators. The motion of these bodies in relation to each other corresponds to the general case of the motion of a solid and is also divided into figurative and relative. The motion of these bodies relative to each other is given in two ways. In the first case, the motion of a certain point of the body is taken as the portable motion, and the motion of the body around this point is taken as the relative motion. In the second case, the motion of a certain straight line of the body is taken as the translational motion, and the motion of the body along this straight line is taken as the relative motion. Based on the use of equations of relations between the parameters that specify the motion of bodies relative to each other and the generalized coordinates of the robot manipulators, expressions for generalized coordinates, which are taken as control actions, are obtained. The application of this method to the construction of motion of a two-armed robot during the assembly of cylindrical joints is shown. A cyclogram of robot motion during assembly is given. |
| Keywords |
two-armed robot, solid, relative motion, control functions, assembly, control algorithm |
| Received |
10 August 2020 | Revised |
03 February 2021 | Accepted |
26 April 2021 |
| Link to Fulltext |
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