Influence of types of mechanisms and structures of kinematic chains on the accuracy of robot movement

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Influence of types of mechanisms and structures of kinematic chains on the accuracy of robot movement

Havrysh Kyrylo Volodymyrovych

graduate of the Faculty of Engineering and Chemistry

National Technical University of Ukraine

"ihor Sikorsky Kyiv Polytechnic Institute”, Ukraine

Yudenko Vladyslav Vitaliiovych

graduate of the Faculty of Engineering and Chemistry

National Technical University of Ukraine

"Ihor Sikorsky Kyiv Polytechnic Institute”, Ukraine

Supervisor: Gorbatenko Yuriy Pavlovych

Ph.D. of technical sciences, associate professor,

Summary

The study investigates the kinematics of robots with the aim of expedient use of certain engineering solutions for solving certain problems related to the accuracy of robot movement. robot kinematic parallel mechanism

Keywords: Robotics, Robot kinematics, Parallel mechanisms, Serial mechanisms, Hybrid mechanisms, Direct chain, Closed chain, Cascade chain.

Introduction

Robotics is proving to be an increasingly important field in the modern world, finding applications in various fields, including manufacturing, medicine, logistics, and many others. Higher motion accuracy of robots is one of the key characteristics that determine their usefulness and efficiency. The accuracy of movement, including the level of coordination, determines the range of tasks that robots can perform.

The purpose of this study is to analyze the kinematics of robots to determine the advantages and disadvantages of the feasibility of using mechanisms in accordance with the tasks set. The specific objectives of the study include:

- Study of the impact of different types of mechanisms and kinematic chain structures on the accuracy of robot movement.

- Study of practical applications.

The object of study is various types of robots and their kinematic systems. The study includes the analysis of robots with different mechanisms and kinematic chains, as well as their properties.

1. Study the impact of different types of mechanisms and kinematic chain structures on the accuracy of robot movement.

1.1 Types of mechanisms and their impact on the accuracy of robot movement

In the field of robotics, there are many different types of mechanisms that are used to create moving robot systems. The main types of mechanisms include:

1.1.1 Parallel mechanisms: Parallel mechanisms consist of independent structures connected by one or more points. These mechanisms are highly responsive and stable, which facilitates precise movement.

1.1.2 Serial mechanisms: In series mechanisms, all the circuits are connected in series, and the movement occurs through the sequential transformation of each circuit. Series movements have a slower speed, but they are more accurate than parallel movements.

1.1.3 Hybrid mechanisms: Hybrid mechanisms combine both parallel and serial elements, and the specific properties depend on the advantages of one or the other type, respectively.

1.2 Influence of mechanism types on robot movement accuracy

The choice of mechanism type has a significant impact on the accuracy of robot movement. Below are the important aspects we took into account in our analysis:

1.2.1 Precision in positioning:

Parallel mechanisms have high positioning accuracy because they are able to provide stable and precise movement. Serial mechanisms can be less accurate due to the accumulative error in each element.

1.2.2 Performance: Serial mechanisms usually have lower speeds than parallel mechanisms. However, under certain conditions, hybrid mechanisms can combine high accuracy with high speed.

1.2.3 Working volume: Parallel mechanisms may have a limited operating volume due to their design, while serial mechanisms can operate at a higher volume.

1.2.4 Cost and complexity: Parallel mechanisms can be more expensive and more difficult to manufacture than serial mechanisms. The cost of hybrid mechanisms, respectively, depends on the prevailing type.

Analyzing and comparing robots with different types of mechanisms helps to determine the feasibility of using the best type of mechanism for specific tasks.

1.3 Different structures of kinematic chains

In robotics, there are several different kinematic chain structures that are used to create moving robot systems. The main types of kinematic chains include:

1.3.1 Direct chain: In a direct chain, movement occurs sequentially from one element to the next, and each element is supported by the previous one and changes its position.

1.3.2 Closed chain: A closed chain also involves a sequential movement, but ends with a return to the starting position. This structure allows you to go through the same sequence of movements many times.

1.3.3 Cascading chain: A cascade chain contains a sequence of kinematic chains, where each chain is connected to the previous and subsequent ones.

1.3.4

1.4 Influence of kinematic chain structures on robot movement

The choice of kinematic chain structure significantly affects the robot's movement and capabilities. Below are the advantages and disadvantages of different structures:

1.4.1 Straight chain:

Advantages: A straight-chain is usually simple in design, making it easy to manufacture and maintain. It is effective in performing simple tasks with precision movement.

Disadvantages: The direct chain is limited in terms of the work volume and complexity of tasks that can be performed by the robot.

1.4.2 A closed chain:

Advantages: A closed chain is used for cyclic tasks that require a constant return to the same position. It is more resistant to external influences, as it bypasses constant movements.

Disadvantages: A closed chain requires more parts and complex mechanisms to ensure repetitive motion. It is less effective for complex tasks that do not require

repetition.

1.4.3 Cascading chain:

Advantages: Cascade chains allow you to create more complex systems that combine the movements of different chains.

Disadvantages: The cascade chain is complex to design and manage. It requires many sensors and controllers to perform tasks efficiently.

2. Practical applications of robot mechanical system analysis

Here are some specific examples of robots:

- Serial robots with a straight chain: Industrial robots for precise positioning of elements in production, such as picking up and moving objects in manufacturing.

- Serial robots with closed chains: Conveyor systems for the automatic movement of materials in mass production.

- Parallel work: Aircraft simulators that require high accuracy and stability.

- Hybrid robots with cascading chains: Surgical robots for performing precision procedures in medicine. Walking robots for complex medical operations that require the coordination of different tools.

Conclusion

In this study, we have presented a comprehensive overview and analysis of various aspects of robot kinematics, including types of mechanisms and kinematic chain structures. The analysis and subsequent optimization of robot kinematics play an important role in improving productivity and the quality of tasks in various industries.

References:

[1] Design of devices and systems of underwater vehicles [Electronic resource] // NUK. - 2005 - Retrieved from :https://ru.scribd.com/document/464323137.

[2] BASICS OF AUTOMATION AND ROBOTICS - Dnipro: "Garant SV, 2021. - 243 p. - Retrieved from : https://ela.kpi.ua/handle/123456789/45885.

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