title: ÐÐ¾ÑÑÐ°Ð»ÑÐ½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ
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: Portal robot
Creators: name: ÐÐ¾Ð³Ð°ÑÑÑ, ÐÐ²Ð³ÐµÐ½Ð¸Ð¹
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¿Ð¾ÑÑÐ°Ð»ÑÐ½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ
ÑÐ¸Ð½ÑÐµÐ· Ð·Ð°ÐºÐ¾Ð½Ð¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ
Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ
MathCad
Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ°ÑÑÑÑ
portal robot
synthesis of laws of motion
movement parameters
mathematical calculation

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«ÐÐ¾ÑÑÐ°Ð»ÑÐ½ÑÐ¹ ÑÐ¾Ð±Ð¾ÑÂ».ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð¿Ð¾ÑÑÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ñ Ð´Ð²ÑÐ¼Ñ ÑÑÐµÐ¿ÐµÐ½ÑÐ¼Ð¸ Ð¿Ð¾Ð´Ð²Ð¸Ð¶Ð½Ð¾ÑÑÐ¸ Ð¸ Ð¼ÐµÑÐ¾Ð´Ð°Ð¼ ÑÐ¸Ð½ÑÐµÐ·Ð° ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð·Ð°ÐºÐ¾Ð½Ð¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. 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:1. Ð¡Ð¸Ð½ÑÐµÐ· Ð¿ÑÑÐ¼Ð¾ÑÐ³Ð¾Ð»ÑÐ½Ð¾Ð³Ð¾, ÑÐ¸Ð¼Ð¼ÐµÑÑÐ¸ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ°Ð¿ÐµÑÐµÐ¸Ð´Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð¸ Ð½ÐµÑÐ¸Ð¼Ð¼ÐµÑÑÐ¸ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ°Ð¿ÐµÑÐµÐ¸Ð´Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð·Ð°ÐºÐ¾Ð½Ð¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ.2. ÐÐ·ÑÑÐµÐ½Ð¸Ðµ Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¼Ð°ÐºÑÐ¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð·Ð½Ð°ÑÐµÐ½Ð¸Ñ Ð¼Ð³Ð½Ð¾Ð²ÐµÐ½Ð½Ð¾Ð¹ Ð¼Ð¾ÑÐ½Ð¾ÑÑÐ¸ Ð¸ Ð·Ð°ÑÑÐ°Ñ ÑÐ½ÐµÑÐ³Ð¸Ð¸ Ð·Ð° Ð¿ÐµÑÐ¸Ð¾Ð´ Ð¾Ñ Ð·Ð°ÐºÐ¾Ð½Ð¾Ð² Ð¸ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ.3. ÐÐ°ÑÐ¾Ð¶Ð´ÐµÐ½Ð¸Ðµ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¾Ð² Ð¸ Ð·Ð°ÐºÐ¾Ð½Ð¾Ð² Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð´Ð»Ñ ÑÐ¼ÐµÐ½ÑÑÐµÐ½Ð¸Ñ ÑÐ½ÐµÑÐ³Ð¾Ð¿Ð¾ÑÑÐµÐ±Ð»ÐµÐ½Ð¸Ñ.ÐÐ»Ñ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð±ÑÐ» ÑÐ¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½ Ð¿Ð¾ÑÑÐ°Ð»ÑÐ½ÑÐ¹ ÑÐ¾Ð±Ð¾Ñ, Ñ ÑÑÑÑÐ¾Ð¼ ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸Ðº ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸Ð»ÑÑ Ð°Ð½Ð°Ð»Ð¸Ð· Ð² ÑÑÐµÐ´Ðµ MathCad. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ðµ ÑÐ°ÑÑÑÑÑ, Ð½Ð°Ð³Ð»ÑÐ´Ð½Ð¾ Ð¿Ð¾ÐºÐ°Ð·ÑÐ²Ð°ÑÑÐ¸Ðµ, ÐºÐ°Ðº Ð¼ÐµÐ½ÑÐµÑÑÑ ÑÐ½ÐµÑÐ³Ð¾Ð¿Ð¾ÑÑÐµÐ±Ð»ÐµÐ½Ð¸Ð¸ Ð¿ÑÐ¸ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ð¸ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð²ÑÑÐ¾Ð´Ð½Ð¾Ð³Ð¾ Ð·Ð²ÐµÐ½Ð°.Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ Ð½Ð°Ð¹Ð´ÐµÐ½Ñ ÑÐ°ÐºÐ¸Ðµ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÑ Ð¿ÐµÑÐµÐ¼ÐµÑÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑ ÑÑÑÐµÑÑÐ²ÐµÐ½Ð½Ð¾ ÑÐ½Ð¸Ð·Ð¸ÑÑ ÑÐ°ÑÑÐ¾Ð´ ÑÐ½ÐµÑÐ³Ð¸Ð¸ Ð¸ Ð¼Ð°ÐºÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÐ¹ Ð¼Ð¾Ð¼ÐµÐ½Ñ Ð½Ð° Ð²Ð°Ð»Ñ Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»Ñ Ð¿Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ñ ÑÑÐ°Ð´Ð¸ÑÐ¸Ð¾Ð½Ð½ÑÐ¼Ð¸ Ð·Ð°ÐºÐ¾Ð½Ð°Ð¼Ð¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ.Ð¢Ð°ÐºÐ¸Ð¼ Ð¾Ð±ÑÐ°Ð·Ð¾Ð¼, Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑ ÑÑÐ¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ, Ð¼Ð¾Ð¶Ð½Ð¾ Ð´Ð¾Ð±Ð¸ÑÑÑÑ ÑÐºÐ¾Ð½Ð¾Ð¼Ð¸Ð¸ ÑÐ½ÐµÑÐ³Ð¸Ð¸ Ð² Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¸Ñ Ð¼Ð°ÑÐ¸Ð½Ð°Ñ, Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÐ¼ÑÑ Ð´Ð»Ñ Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½Ð¾Ð³Ð¾ Ð²Ð¸Ð´Ð° Ð¿ÑÐµÐ´Ð¼ÐµÑÐ¾Ð². Ð¢Ð°ÐºÐ¶Ðµ, Ð±Ð»Ð°Ð³Ð¾Ð´Ð°ÑÑ ÑÐ¼ÐµÐ½ÑÑÐµÐ½Ð¸Ñ Ð¼Ð¾Ð¼ÐµÐ½ÑÐ° Ð½Ð°Ð³ÑÑÐ·ÐºÐ¸, Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ ÑÐ¼ÐµÐ½ÑÑÐµÐ½Ð¸Ðµ ÑÐ¸Ð¿Ð¾ÑÐ°Ð·Ð¼ÐµÑÐ° Ð´Ð²Ð¸Ð³Ð°ÑÐµÐ»Ñ, ÑÑÐ¾ Ð²ÐµÐ´ÑÑ Ðº ÑÐ¾ÐºÑÐ°ÑÐµÐ½Ð¸Ñ Ð³Ð°Ð±Ð°ÑÐ¸ÑÐ¾Ð² Ð¸ ÑÐ´ÐµÑÐµÐ²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð°ÑÐ¸Ð½Ñ.
description: The subject of the graduate qualifying work is "Portal robot".The given work is devoted to the studying of the movement of a portal robot with two degrees of mobility and methods for the synthesis of various laws of motion. Tasks that were solved during the studying:1. Synthesis of rectangular, symmetrical trapezoidal and asymmetric trapezoidal laws of motion.2. Studying the dependence of the maximum value of instantaneous power and energy costs for the period on the laws and parameters of motion.3. Finding the optimal parameters and laws of motion to reduce energy consumption.For this studying, a portal robot was modeled, taking into account the characteristics of which the analysis was carried out in the MathCad environment. Calculations have been carried out that clearly show how the energy consumption changes when the trajectory of the output link changes.As a result of the work, such displacement parameters were found that can significantly reduce energy consumption and the maximum torque on the motor shaft compared to traditional laws of motion.Thus, using these studies, it is possible to achieve energy savings in automatic machines used to move various types of objects. Also, due to a decrease in the load torque, it is possible to reduce the size of the engine, which leads to a reduction in size and a reduction in the cost of the machine.