title: ÐÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ 6-Ð¾ÑÐµÐ²Ð¾Ð³Ð¾ 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: Designing a 6-axis manipulator
Creators: name: ÐÐ¾Ð¿Ð¾Ð²Ð°, 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: 2023
Subjects: ÑÐ¾Ð±Ð¾Ñ-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ
Ð·Ð²ÐµÐ½Ð¾
ÑÐµÑÐ²Ð¾Ð¿ÑÐ¸Ð²Ð¾Ð´
Ð¾Ð±ÑÑÐµÐ½Ð¸Ðµ
Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð³ÐµÐ½ÐµÑÐ°ÑÐ¸Ð²Ð½ÑÐ¹ Ð´Ð¸Ð·Ð°Ð¹Ð½
Ð·Ð°Ñ Ð²Ð°Ñ
Ð¾ÑÑ
Ð¿ÐµÑÐµÐ¼ÐµÑÐµÐ½Ð¸Ðµ
ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ
robot manipulator
link
servo
training
design
generative design
capture
axis
displacement
construction

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÐµÑÑÑ Ð¿ÑÐ¾ÑÐµÑÑ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð². ÐÑÐµÐ´Ð¼ÐµÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÐµÑÑÑ â ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¸ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð². Ð¦ÐµÐ»Ñ Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ â ÑÐ¾Ð·Ð´Ð°ÑÑ 6-Ð¾ÑÐµÐ²Ð¾Ð¹ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾Ñ Ð´Ð»Ñ Ð²Ð½ÐµÐ´ÑÐµÐ½Ð¸Ñ Ð² ÑÑÐµÐ±Ð½ÑÐ¹ Ð¿ÑÐ¾ÑÐµÑÑ. Ð ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¸ Ð¸ ÑÑÐµÐ´ÑÑÐ²Ð° Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð², ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ ÑÐ¾Ð±Ð¾ÑÐ°, Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼ÑÐµ ÑÐ°ÑÑÐµÑÑ, Ð°Ð½Ð¸Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð° Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð°Ñ 3D-Ð¼Ð¾Ð´ÐµÐ»Ñ. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ Ð°ÐºÑÑÐ°Ð»ÑÐ½ÑÐµ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ ÑÐ¾Ð±Ð¾ÑÐ¾Ð²-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð². Ð ÑÐ¾Ð´Ðµ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð° Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿ÑÐ¾ÑÑÐ°Ñ Ð¸ ÑÐºÐ¾Ð½Ð¾Ð¼Ð¸ÑÐµÑÐºÐ¸ Ð²ÑÐ³Ð¾Ð´Ð½Ð°Ñ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ñ Ð´Ð»Ñ Ð²Ð½ÐµÐ´ÑÐµÐ½Ð¸Ñ Ð² ÑÑÐµÐ±Ð½ÑÐ¹ Ð¿ÑÐ¾ÑÐµÑÑ. Ð Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ðµ Creo Parametric ÑÐ¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð° Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ¾Ð±Ð¾ÑÐ°. Ð¢Ð°ÐºÐ¶Ðµ Ð² Ð´Ð°Ð½Ð½Ð¾Ð¹ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ðµ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¿ÑÐµÐ´Ð²Ð°ÑÐ¸ÑÐµÐ»ÑÐ½ÑÑ ÑÐ°ÑÑÐµÑÐ¾Ð² Ð² Ð±Ð»Ð¾ÐºÐµ Ð³ÐµÐ½ÐµÑÐ°ÑÐ¸Ð²Ð½Ð¾Ð³Ð¾ Ð´Ð¸Ð·Ð°Ð¹Ð½Ð° Ð¿Ð¾Ð»ÑÑÐµÐ½Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ Ð¿ÑÐ¾Ð¼ÐµÐ¶ÑÑÐ¾ÑÐ½ÑÑ Ð·Ð²ÐµÐ½ÑÐµÐ² Ð´Ð»Ñ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¹ Ð¿ÐµÑÐ°ÑÐ¸ Ð½Ð° 3D-Ð¿ÑÐ¸Ð½ÑÐµÑÐµ. ÐÑÐ¾Ð°Ð½Ð°Ð»Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ðµ Ð²Ð°ÑÐ¸Ð°Ð½ÑÑ Ð¿Ð¾Ð²Ð¾ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð»Ñ ÑÐ¾Ð±Ð¾ÑÐ°. Ð ÑÐ¾Ð´Ðµ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ ÑÐ¾Ð±ÑÑÐ²ÐµÐ½Ð½ÑÐ¹ Ð²Ð°ÑÐ¸Ð°Ð½Ñ Ð¾ÑÐ½Ð¾Ð²Ð°Ð½Ð¸Ñ, Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÐ¹ Ñ ÑÐ¾ÑÐºÐ¸ Ð·ÑÐµÐ½Ð¸Ñ Ð³Ð°Ð±Ð°ÑÐ¸ÑÐ¾Ð² Ð¸ ÑÐ°ÑÐ¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð½Ð°Ð³ÑÑÐ·Ð¾Ðº. Ð ÑÐ¾Ð¹ Ð¶Ðµ Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ðµ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½Ð° Ð°Ð½Ð¸Ð¼Ð°ÑÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°, Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÑÑÐ°Ñ Ð¾ÑÐµÐ½Ð¸ÑÑ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð²ÑÐµÑ Ð·Ð²ÐµÐ½ÑÐµÐ² Ð¿ÑÐ¸ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ Ð·Ð°Ð´Ð°Ð½Ð½ÑÑ Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ°Ñ Ð²ÑÐµÐ¼ÐµÐ½Ð¸ Ð¸ Ð¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ. ÐÐ¾Ð»ÑÑÐµÐ½Ð½ÑÐµ Ð´Ð°Ð½Ð½ÑÐµ Ð¿Ð¾ÐºÐ°Ð·Ð°Ð»Ð¸ Ð¿ÐµÑÑÐ¿ÐµÐºÑÐ¸Ð²Ð½Ð¾ÑÑÑ Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐ¸Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ¾Ðº Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¿ÑÐ¾ÐµÐºÑÐ° Ð¸ Ð²Ð½ÐµÐ´ÑÐµÐ½Ð¸Ñ ÐµÐ³Ð¾ Ð² ÑÑÐµÐ±Ð½ÑÐ¹ Ð¿ÑÐ¾ÑÐµÑÑ.
description: The object of the study is the process of creating manipulators. The subject of the study is the technology of creating manipulators. The purpose of the final qualification work is to create a 6âaxis manipulator for implementation into the educational process. During the study, the technologies and means of designing robot manipulators were analyzed, the robot design was developed, the necessary calculations were carried out, and the resulting 3D model was animated. As a result of the completion of the final qualification work, the actual designs of existing robot manipulators are analyzed. During the analysis, the simplest and economically advantageous design for implementation in the educational process was determined. A robot model is designed in the Creo Parametric program. Also in this program, using preliminary calculations in the general design block, models of intermediate links for further printing on a 3D printer were obtained. The existing variants of the rotary base for the robot are analyzed. During the analysis, a proprietary version of the base was developed, optimal in terms of dimensions and distribution of loads. In the same program, an animation of the robot model is implemented, which makes it possible to estimate the trajectory of movement of all links with different set parameters of time and position. The data obtained showed the prospects for further development of this project and its implementation in the educational process.