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  5. Synthesis of the dynamic model of industrial robot for dorning holes in the design of flighting devices

Synthesis of the dynamic model of industrial robot for dorning holes in the design of flighting devices

V. Voronko, I.Shostak, I. Voronko, V. Stepanenko, D. Zavistovsky
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Dynamic models "manipulator with elastic coupling in the gripper" and "manipulator - elastic gripper - dornoval machine (pneumatic impulse device)" are developed in the article, as well as a method for forming the dynamics equations of the manipulator when docking holes in aircraft structures; The model of the dynamics of the robot-technical complex (industrial robot) for the drilling of holes is synthesized, which is implemented in the form of a method for calculating the variables characterizing the process of hole leveling by pneumatic impulse devices in the designs of aircraft. The above theoretical results are supposed to be used in robotizing the processes of assembly of aircraft structures to improve the accuracy and stability of the results, and for decrease in the proportion of routine work in the work of locksmiths.
Keywords: industrial robot, robot-technical complex, pneumatic impulse devices, doweling of holes, dynamic model, manipulator, aircraft structures