title: ÐÐ¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Manipulator simulation and analysis
Creators: name: ÐÐ¸ ÐÑÐ½ÑÐ¸
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: 2021
Subjects: Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
creo parametric
ansys
Ð¾Ð±Ð»Ð°ÐºÐ¾
Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
ÑÐ°ÑÑÐµÑÑ Ð½Ð°Ð¿ÑÑÐ¶ÐµÐ½Ð¸Ð¹ Ð¸ Ð´ÐµÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¹
ÑÐ¾Ð¿Ð¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ°Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð´ÐµÑÐ°Ð»Ð¸
manipulator
cloud
motion
stress and strain calculations
topological optimization of a part

description: ÐÑÐµÐ´Ð¼ÐµÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÐµÑÑÑ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°. ÐÑÐ½Ð¾Ð²Ð½Ð¾Ð¹ ÑÐµÐ»ÑÑ Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÑÐºÐ¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ Ð¿Ð°ÐºÐµÑÐ° Creo Parametric Ð¸ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð´ÐµÑÐ°Ð»ÐµÐ¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ÑÐ°ÑÑÑÑÐ½Ð¾Ð³Ð¾ Ð¿Ð°ÐºÐµÑÐ° ANSYS Workbench. ÐÑÐ¸ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ð¸ Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ¾Ð·Ð´Ð°Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ð½Ð°Ñ ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ ÑÑÐµÐ¼Ð°, ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð¿ÑÐ¸Ð¼ÐµÑÑ ÑÑÑÑÐºÑÑÑÐ½Ð¾Ð¹ Ð¸ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½Ð¾Ð¹ ÑÑÐµÐ¼Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°; Ð¿ÑÐ¸Ð²ÐµÐ´ÐµÐ½Ð° ÐºÐ¾Ð¼Ð¿Ð¾Ð½Ð¾Ð²ÐºÐ° Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°; ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð° Ð²Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð°Ñ ÑÐ±Ð¾ÑÐºÐ° Ð¼Ð°ÐºÐµÑÐ° Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°; Ð¿ÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½ Ð°Ð½Ð°Ð»Ð¸Ð· Ð´ÐµÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¹ Ð¸ Ð½Ð°Ð¿ÑÑÐ¶ÐµÐ½Ð¸Ð¹ Ð² Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐµ Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ ANSYS; ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ð¾ Ð½Ð°Ð¿ÑÑÐ¶ÐµÐ½Ð½Ð¾-Ð´ÐµÑÐ¾ÑÐ¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð¾Ðµ ÑÐ¾ÑÑÐ¾ÑÐ½Ð¸Ðµ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¿ÑÐ¸ Ð¿ÑÐ¸Ð»Ð¾Ð¶ÐµÐ½Ð½ÑÑ Ðº Ð½ÐµÐ¼Ñ Ð½Ð°Ð³ÑÑÐ·ÐºÐ°Ñ. ÐÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð° Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°. ÐÐ¾ Ð²ÑÐµÐ¼Ñ ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ Ð´Ð¾Ð»Ð¶ÐµÐ½ Ð½ÐµÑÑÐ¸ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½ÑÑ Ð½Ð°Ð³ÑÑÐ·ÐºÑ, ÑÑÐ¾ Ð²ÑÐ·ÑÐ²Ð°ÐµÑ ÑÐ¿ÑÑÐ³ÑÑ Ð´ÐµÑÐ¾ÑÐ¼Ð°ÑÐ¸Ñ ÑÑÑÐ°Ð³Ð¾Ð² Ð¸ ÑÐ¾Ð·Ð´Ð°ÑÑ Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½ÑÑ Ð¾ÑÐ¸Ð±ÐºÑ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ. Ð§ÑÐ¾Ð±Ñ ÑÐ¼ÐµÐ½ÑÑÐ¸ÑÑ Ð¿Ð¾Ð³ÑÐµÑÐ½Ð¾ÑÑÑ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð²Ð¾ Ð²ÑÐµÐ¼Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ, ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ° ÑÑÑÐ°Ð³Ð¾Ð² Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð´Ð¾Ð»Ð¶Ð½Ð° Ð¸Ð¼ÐµÑÑ Ð±Ð¾Ð»ÐµÐµ Ð²ÑÑÐ¾ÐºÑÑ Ð¶ÐµÑÑÐºÐ¾ÑÑÑ. ÐÐ· Ð°Ð½Ð°Ð»Ð¸Ð·Ð° ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð² ÑÐ°ÑÑÑÑÐ° Ð²Ð¸Ð´Ð½Ð¾, ÑÑÐ¾ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð½Ð°Ñ Ð´ÐµÑÐ°Ð»Ñ Ð¾ÐºÐ°Ð·Ð°Ð»Ð°ÑÑ Ð½Ð° 30 % Ð»ÐµÐ³ÑÐµ, ÑÐµÐ¼ Ð¸ÑÑÐ¾Ð´Ð½Ð°Ñ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ, ÑÑÐ¾ Ð´Ð°ÐµÑ Ð»ÑÑÑÐ¸Ðµ ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸ÐºÐ¸ Ð¿ÑÐ¸ Ð¿ÑÐ¸Ð»Ð¾Ð¶ÐµÐ½Ð¸Ð¸ Ð½Ð°Ð³ÑÑÐ·ÐºÐ¸. ÐÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ°Ñ Ð·Ð½Ð°ÑÐ¸Ð¼Ð¾ÑÑÑ. Ð¢Ð°ÐºÐ¸Ð¼ Ð¾Ð±ÑÐ°Ð·Ð¾Ð¼, Ð¿ÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð½Ð°Ñ Ð¼ÐµÑÐ¾Ð´Ð¸ÐºÐ° Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¼ÐµÑÐ¾Ð´Ð° ÐºÐ¾Ð½ÐµÑÐ½ÑÑ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ¾Ð² Ñ ÑÑÐ¿ÐµÑÐ¾Ð¼ Ð¼Ð¾Ð¶ÐµÑ Ð±ÑÑÑ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð° Ð¿ÑÐµÐ´Ð¿ÑÐ¸ÑÑÐ¸ÑÐ¼Ð¸.
description: The subject of the research is modeling and analysis of a manipulator. The main goal of the bachelor's work is modeling a manipulator using the Creo Parametric package and optimizing the manipulator parts using the ANSYS Workbench calculation package. When performing the final qualifying work, the main kinematic diagram was created, examples of the structural and functional diagram of the manipulator were considered; the layout of the manipulator is shown; considered a virtual assembly of a model of an industrial robot; analysis of deformations and stresses in the manipulator was performed using ANSYS; the stress-strain state of the manipulator is considered under loads applied to it. Optimization of the manipulator has been performed. During operation, the manipulator must carry a certain load, which causes elastic deformation of the levers and creates a certain movement error. To reduce the error in the movement of the manipulator during movement, the design of the element of the manipulator levers must have a higher rigidity. From the analysis of the calculation results, it can be seen that the optimized part turned out to be 30% lighter than the original design, which gives better characteristics when applying a load. Practical significance. Thus, the proposed manipulator optimization technique based on the finite element method can be successfully applied by enterprises.