title: ÐÐ¾Ð´ÑÐ»Ñ Ð°Ð±ÑÐ°Ð·Ð¸Ð²Ð½Ð¾Ð¹ ÑÐµÐ·ÐºÐ¸ Ð¼Ð¾Ð±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° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Abrasive cutting module of mobile robot
Creators: name: Ð¨Ð°ÑÐ°Ð»Ð¾Ð², ÐÐµÐ½Ð¸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: 2024
Subjects: Ð¼Ð¾Ð´ÑÐ»Ñ Ð°Ð±ÑÐ°Ð·Ð¸Ð²Ð½Ð¾Ð¹ ÑÐµÐ·ÐºÐ¸
ÑÐ¼ÐµÐ½Ð½ÑÐ¹ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½Ñ Ð´Ð»Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° ÑÐ¾Ð±Ð¾ÑÐ°
Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ ÑÐ¼ÐµÐ½Ð° Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ°
Ð°Ð±ÑÐ°Ð·Ð¸Ð²Ð½Ð°Ñ ÑÐµÐ·ÐºÐ° ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼
ÑÐ³Ð»Ð¾Ð²Ð°Ñ ÑÐ»Ð¸ÑÐ¾Ð²Ð°Ð»ÑÐ½Ð°Ñ Ð¼Ð°ÑÐ¸Ð½Ð°
abrasive cutting module
replaceable tool for robot manipulator
automatic tool change
abrasive cutting by robot
angle grinder

description: ÐÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð¼Ð¾Ð´ÑÐ»Ñ Ð°Ð±ÑÐ°Ð·Ð¸Ð²Ð½Ð¾Ð¹ ÑÐµÐ·ÐºÐ¸ Ð´Ð»Ñ Ð¼Ð°Ð»Ð¾Ð³Ð°Ð±Ð°ÑÐ¸ÑÐ½Ð¾Ð¹ Ð°Ð²ÑÐ¾Ð½Ð¾Ð¼Ð½Ð¾Ð¹ ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼Ñ Â«ÐÐ°Ð¿Ð¸ÑÐ°Ð½Â», Ñ ÑÐµÐ»ÑÑ ÑÐ°ÑÑÐ¸ÑÐµÐ½Ð¸Ñ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½ÑÑ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐµÐ¹ ÑÐ¾Ð±Ð¾ÑÐ°. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½ ÐºÑÐ¸ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐ¾Ð±Ð¾ÑÐ¾ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ñ Ð¸Ð½Ð¶ÐµÐ½ÐµÑÐ½ÑÑ Ð¿Ð»Ð°ÑÑÐ¾ÑÐ¼, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð¼Ð¾Ð³ÑÑ Ð²ÑÐ¿Ð¾Ð»Ð½ÑÑÑ ÑÑÐ¾Ð¶Ð¸Ðµ ÑÑÐ½ÐºÑÐ¸Ð¸, Ð° ÑÐ°ÐºÐ¶Ðµ Ð°Ð½Ð°Ð»Ð¸Ð· Ð¿Ð°ÑÐµÐ½ÑÐ¾Ð² Ð² Ð¾Ð±Ð»Ð°ÑÑÐ¸ ÑÐ¼ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ° Ð´Ð»Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð² Ð¸ ÑÐµÐ·ÐºÐ¸ Ð´Ð°Ð½Ð½ÑÐ¼ Ð¼ÐµÑÐ¾Ð´Ð¾Ð¼ Ñ Ð¸Ñ Ð¿Ð¾Ð¼Ð¾ÑÑÑ. ÐÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ð° ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ ÑÑÐµÐ¼Ð° Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¼Ð¾Ð´ÑÐ»Ñ. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ñ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸ÑÐµÑÐºÐ°Ñ, Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ð¸Ð°Ð»ÑÐ½Ð¾-ÐºÐ¸Ð½ÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ, ÑÑÑÑÐºÑÑÑÐ½Ð¾-ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð»ÑÐ½Ð°Ñ ÑÑÐµÐ¼Ñ Ð¼Ð¾Ð´ÑÐ»Ñ Ð°Ð±ÑÐ°Ð·Ð¸Ð²Ð½Ð¾Ð¹ ÑÐµÐ·ÐºÐ¸. ÐÑÐµÐ´Ð»Ð¾Ð¶ÐµÐ½Ð° ÑÐ¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ ÑÐ¼ÐµÐ½Ñ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ°, Ð±Ð»Ð°Ð³Ð¾Ð´Ð°ÑÑ ÐºÐ¾ÑÐ¾ÑÐ¾Ð¹ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ ÐºÐ¾Ð¼Ð¿ÐµÐ½ÑÐ¸ÑÐ¾Ð²Ð°ÑÑ Ð¿Ð¾Ð³ÑÐµÑÐ½Ð¾ÑÑÐ¸ Ð¿Ð¾Ð·Ð¸ÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð·Ð°ÑÐ²Ð°ÑÐ° Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¾ÑÐ½Ð¾ÑÐ¸ÑÐµÐ»ÑÐ½Ð¾ Ð¸Ð½ÑÑÑÑÐ¼ÐµÐ½ÑÐ°. ÐÐ° Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð¸Ð¸ Ð´Ð°Ð½Ð½ÑÑ ÑÑÐµÐ¼ Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ Ð¼Ð¾Ð´ÑÐ»Ñ. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐ°ÑÑÐµÑÑ ÑÐ°Ð±Ð¾ÑÐ¾ÑÐ¿Ð¾ÑÐ¾Ð±Ð½Ð¾ÑÑÐ¸. Ð Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð¼ ÐºÐ¾Ð¼Ð¿Ð»ÐµÐºÑÐµ Ð¡ÐÐÐ  SolidWorks ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÑÐ±Ð¾ÑÐ¾ÑÐ½Ð°Ñ 3D-Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¼Ð¾Ð´ÑÐ»Ñ Ð°Ð±ÑÐ°Ð·Ð¸Ð²Ð½Ð¾Ð¹ ÑÐµÐ·ÐºÐ¸. ÐÐ¿Ð¸ÑÐ°Ð½Ñ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÐµ ÑÐ»ÐµÐ¼ÐµÐ½ÑÑ, Ð²ÑÐ¾Ð´ÑÑÐ¸Ðµ Ð² ÐµÐµ ÑÐ¾ÑÑÐ°Ð², Ð° ÑÐ°ÐºÐ¶Ðµ Ð¾Ð±Ð¾ÑÐ½Ð¾Ð²Ð°Ð½ Ð¸Ñ Ð²ÑÐ±Ð¾Ñ.
description: The final qualification project is focused on the development of a cutting module using abrasive materials for the small, autonomous robotic platform, "Captain", with the aim of enhancing the functionality of the robot. A critical analysis of robotic engineering platforms capable of performing similar functions has been conducted, as well as a review of patents in the area of interchangeable tooling for manipulators and abrasive cutting using this approach. The kinematic design of this module has been analyzed. Technological, fundamental kinematic, structural, and functional designs of the abrasive cutting module have been developed. A system for automatic tool changing has been proposed, which allows for compensation for errors in positioning of the gripper relative to the tool. Based on these designs, the modules design has been developed. Strength calculations during operation of the module have been performed, confirming its operational capability. A 3D assembly model of the abrasive cutting module has been created using the SolidWorks computer-aided design (CAD) software. The main components included in the model are described and their selection is justified.