title: ÐÐ¾Ð´ÐµÑÐ½Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð¿Ð¾ Ð·Ð°Ð³ÑÑÐ·Ð¾ÑÐ½Ð¾-Ð¿Ð¾Ð³ÑÑÐ·Ð¾ÑÐ½ÑÐ¼ ÑÐ°Ð±Ð¾ÑÐ°Ð¼ Ð´Ð»Ñ Ð¿Ð¾Ð²ÑÑÐµÐ½Ð¸Ñ ÐµÐ³Ð¾ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÐµÐ»ÑÐ½Ð¾ÑÑ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: Modernization of the design of an industrial robot for loading and unloading operations to increase its productivity
Creators: name: ÐÑÐºÐ¾Ð²Ð°, ÐÐ½Ð°ÑÑÐ°ÑÐ¸Ñ
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
ÐÐ¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð³Ð¸Ð±ÐºÐ¸Ðµ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½ÑÐµ ÑÐ¸ÑÑÐµÐ¼Ñ
Ð·Ð°Ð³ÑÑÐ·Ð¾ÑÐ½Ð¾-Ð¿Ð¾Ð³ÑÑÐ·Ð¾ÑÐ½ÑÐµ ÑÐ°Ð±Ð¾ÑÑ
ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ ÑÑ ÐµÐ¼Ð°
ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
Ð¼Ð°ÑÑÐ¸ÑÐ° Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ
flexible production systems
loading and loading
kinematic scheme
computer model
dynamic model
mathematical model
displacement matrix

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«ÐÐ¾Ð´ÐµÑÐ½Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð¿Ð¾ Ð·Ð°Ð³ÑÑÐ·Ð¾ÑÐ½Ð¾-Ð¿Ð¾Ð³ÑÑÐ·Ð¾ÑÐ½ÑÐ¼ ÑÐ°Ð±Ð¾ÑÐ°Ð¼ Ð´Ð»Ñ Ð¿Ð¾Ð²ÑÑÐµÐ½Ð¸Ñ ÐµÐ³Ð¾ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÐµÐ»ÑÐ½Ð¾ÑÑÐ¸Â». ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÐºÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° ÑÐ¸ÑÐ¼Ñ KUKA Ð´Ð»Ñ Ð·Ð°Ð³ÑÑÐ·Ð¾ÑÐ½Ð¾-Ð¿Ð¾Ð³ÑÑÐ·Ð¾ÑÐ½ÑÑ ÑÐ°Ð±Ð¾Ñ Ð² Ð³Ð¸Ð±ÐºÐ¾Ð¹ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ Ð¿Ð¾ Ð²ÑÐ¿ÑÑÐºÑ Ð´ÐµÑÐ°Ð»ÐµÐ¹ Ð¼Ð°ÑÐ¸Ð½ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÐµÐ³Ð¾ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: â Ð¸Ð·ÑÑÐµÐ½Ð¸Ðµ Ð³Ð¸Ð±ÐºÐ¸Ñ Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´ÑÑÐ²ÐµÐ½Ð½ÑÑ ÑÐ¸ÑÑÐµÐ¼, Ð·Ð°Ð³ÑÑÐ·Ð¾ÑÐ½Ð¾-Ð¿Ð¾Ð³ÑÑÐ·Ð¾ÑÐ½ÑÑ ÑÐ°Ð±Ð¾Ñ Ð¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÑ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²; â Ð¸Ð·ÑÑÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð³Ð¾ Ð¾Ð±ÐµÑÐ¿ÐµÑÐµÐ½Ð¸Ñ Ð´Ð»Ñ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð¹ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸;â ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ðµ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸; â ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ðµ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ð¹ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸; â ÑÐµÑÐµÐ½Ð¸Ðµ Ð¿ÑÑÐ¼Ð¾Ð¹ Ð¸ Ð¾Ð±ÑÐ°ÑÐ½Ð¾Ð¹ Ð·Ð°Ð´Ð°ÑÐ¸ Ð¾ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ð¸ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°; â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÑÐµÐ½Ñ Ð´Ð»Ñ Ð¾ÑÐ¾Ð±ÑÐ°Ð¶ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½ÑÐµ Ð² ÑÐ¾Ð´Ðµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¸ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð°Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð±ÑÐ»Ð¸ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ñ Ð´Ð»Ñ Ð½Ð°ÑÐ¾Ð¶Ð´ÐµÐ½Ð¸Ñ Ð´Ð¸Ð°Ð¿Ð°Ð·Ð¾Ð½Ð¾Ð² ÑÐ³Ð»Ð¾Ð² Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐ¾Ð² Ð·Ð²ÐµÐ½ÑÐµÐ² Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÐµÐ¹ Ð·Ð¾Ð½Ñ ÑÐ¾Ð±Ð¾ÑÐ°. Ð Ð°Ð±Ð¾ÑÐ°Ñ Ð·Ð¾Ð½Ð°, Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð½Ð°Ñ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð² ÑÑÐµÐ´Ðµ Matlab, ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²ÑÐµÑ Ð¿Ð°ÑÐ¿Ð¾ÑÑÐ½ÑÐ¼ Ð´Ð°Ð½Ð½ÑÐ¼, ÑÐ°ÐºÐ¶Ðµ, ÐºÐ°Ðº Ð¸ Ð¾Ð±Ð¾Ð±ÑÐµÐ½Ð½ÑÐµ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°ÑÑ. Ð¢Ð°ÐºÐ¶Ðµ Ð±ÑÐ»Ð¸ Ð²ÑÑÐ²Ð»ÐµÐ½Ñ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ, Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ ÑÐ¸Ð»ÑÐ½Ð¾ Ð²Ð»Ð¸ÑÑÑÐ¸Ðµ Ð½Ð° Ð¿ÑÐ¾Ð¸Ð·Ð²Ð¾Ð´Ð¸ÑÐµÐ»ÑÐ½Ð¾ÑÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°.
description: The topic of the final qualification work: "Modernization of the design of an industrial robot for loading and unloading operations to increase its productivity". This work is devoted to the study of the motion dynamics of the KUKA industrial robot for loading and unloading operations in a flexible production system for the production of machine parts and the development of its dynamic model. Tasks that were solved in the course of the study: â study of flexible production systems, loading and unloading operations and industrial robots; - study of software for creating a computer dynamic model; â creation of a mathematical dynamic model; â creation of a computer dynamic model; â solution of the direct and inverse problem on the position of the manipulator; â development of a scene to display the work of an industrial robot. The mathematical and computer models of the industrial robot developed in the course of the work were used to search for the ranges of angular rotations of the links and build the working area of ââthe robot. The working area, built using a mathematical model in the Matlab environment, has summary data, as well as generalized coordinates. The parameters that most strongly affect the performance of an industrial robot were also determined.