GENERALIZED CRITERIA FOR LOADING CAPACITY OF INDUSTRIAL ROBOTS

Abstract

The analysis of the correspondence of the set of functional indicators of industrial robots to the criteria of criteria similarity conditions is carried out. Using the methods of the theory of dimensions, criteria for the similarity of the functional properties of carrying capacity, speed-action and dynamism of industrial robots in terms of rotational and translational degrees of mobility have been determined. The necessary set of criteria has been created and a concept has been proposed for determining the generalized criterion complexes of the load capacity for modules, aggregates and the entire structure of the robot as a whole using the method of defragmentation and averaging the corresponding criteria by degrees of mobility. The proposed performance criterion makes it possible to compare the performance of a group of robots in terms of three kinematic indicators: speed, acceleration and the range of permissible displacements. For robots of light load capacity, the technical evolution of the considered criterion complexes is presented. It is noticed that with an increase in the reach of the robot, the criterion of load-carrying capacity for all robots decreases. The developed criteria make it possible to assess the speed action and loading capacity of a robot of any design and can be used to determine the technical level of robots and identify reserves for increasing it. Key words: degrees of mobility; manipulation system; homogeneous functions; dynamic parameters