title: ÐÐ¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ°Ð±Ð¾ÑÑ Ð¿Ð¾ÑÑÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Optimization of the portal robot algorithm
Creators: name: ÐÐ»Ð°ÑÐ¾Ð½Ð¾Ð², ÐÐ»ÐµÐºÑÐµÐ¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ°Ð±Ð¾ÑÑ
ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ ÑÐ¸ÐºÐ»Ð¾Ð²ÑÐ¼ Ð¼ÐµÑ Ð°Ð½Ð¸Ð·Ð¼Ð¾Ð¼
optimization of the algorithm of operation
control of the cyclic mechanism

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description: This work is devoted to the selection and further optimization of the algorithm of operation of the drives (the law of motion) of a two-coordinate robot in a rectangular coordinate system. Tasks that were solved in the course of the work: analysis of designs of industrial robots for various purposes, standard laws of motion, construction of a mathematical model of the algorithm of operation of a two-coordinate robot, study of the influence of the parameters of the selected law of motion on the power and energy consumption of drives, study of the influence of the components of external forces on the instantaneous power and energy consumption of the robot when the parameters of the law of motion change. Studies of the typical laws of motion of cyclic technological machines have been carried out, the parameters of the trapezoidal law of motion of a two-coordinate robot have been optimized from the point of view of minimizing instantaneous power and energy consumption of drives, the efficiency of optimizing the acceleration/deceleration time values of the degrees of mobility of the robot and the asymmetry coefficients of the law of motion, taking into account the components of external forces, has been evaluated. The result of the work is an optimized algorithm for the operation of the drives of a twoâcoordinate robot from the point of view of minimizing instantaneous power and energy consumption. The results obtained can be used both to modify and optimize the algorithms of existing robots, and for newly designed highly efficient and competitive products of this type.