AUTOMATED DEVICE PARTS TRANSPORTATION SYSTEM IN THE CONDITIONS OF MEDIUM-SERIES PRODUCTION

Abstract

The article analyzes previous research and publications on the development and application of various types of automated transport carts used in serial production, from which a conclusion is drawn about the need to develop an automated transport cart that can be used in instrument manufacturing and which will increase the productivity of the transport system.
 After conducting the analysis, the main element of the automated transportation system was developed, which is an automated transport cart mounted on mecanum wheels, which ensure its all-directional movement, without changing the orientation in space or its change regardless of the direction of movement, with two on-board manipulators that have removable gripping devices, and an individual removable storage device. Changeable elements increase the flexibility of the automated cart, because this feature allows the cart to be adapted to a large number of various technological processes. With the help of the CAD system, a three-dimensional model of the schematic design of the automated transport cart was developed, which takes into account all its important elements, as well as a detailed model of the mecanum wheels, designed specifically for the design of the cart.
 Using the parameters of the developed automated transport cart, the kinematics of the cart were calculated and formulas for solving the forward and inverse kinematics problem were determined, as well as the algorithms of the cart operation were developed, which describe each cycle performed by the cart at each workplace. Based on formulas for solving kinematics problems, formulas and methods for leveling spatial errors that occur during movement from one point to another are defined, as well as functions for optimizing the process of moving an automated transport cart are defined, and how optimization affects performance is determined.