Advertisement

RoManSy 6 pp 496-503 | Cite as

Experimental Research and Development of Methods for Improving Kinematic and Dynamic Robot Characteristics

  • A. N. Ananjev
  • E. G. Ananjeva
  • E. G. Nakhapetjan

Abstract

The purpose of this investigation is the development of methods aimed at increasing reliability and rapid functioning of industrial robots. The particular case of research of a robot with hydraulic drive helped to solve the problem of improving its kinematic and dynamic characteristics due to: 1) rational choice of executing mechanism’s parameters and drive’s parameters; 2) braking regime control. The questions of working out and identification of a mathematical model describing control system, drive and executing mechanisms were considered.

Keywords

Movement Time Industrial Robot Discharge Chamber Hydraulic Cylinder Gain Coefficient 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Ananjev A.N., Nakhapetjan E.G. “ Experimental tests of Industrial robots mechanisms”, Proceedings 4-th CISM-IPToMM Symposium on theory and practice of robots and manipulators, ROMANSY-81 narsawa, p. 630–641.Google Scholar
  2. 2.
    Нахапеян Е.Г. “Диагностирование оборудсвания гибкого автоматизированного производэтва”, М., Наука, 1985г., 225с.Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • A. N. Ananjev
    • 1
  • E. G. Ananjeva
    • 1
  • E. G. Nakhapetjan
    • 1
  1. 1.Institute for the Study of MachinesAcademy of SciencesMoscowUSSR

Personalised recommendations