Reducing the risks of destroying a vertically moving robot under some scenarios that occur during its operation

Authors: Kanygin A.V.
Published in issue: #4(69)/2022
DOI: 10.18698/2541-8009-2022-4-788
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: vertically moving robot, closed kinematic structure, failure prevention methods, fracture prevention, automatic control system, transients, elastic elements, safety elements
Published: 06.06.2022

The problem of reducing the risks of destroying the structures that are part of a vertically moving robot in the state of a closed kinematic system and in some other events that occur during the functioning of the complex is considered. The technical assignment for a particular urgent problem is formulated and options for implementing measures to prevent the destruction of the robot assemblies are developed. The division of robot automatic control systems into several levels, depending on the functions it performs, is proposed. The design of the executive level of a vertically moving robot under the condition of minimizing the risks of destruction is considered. Critical scenarios that arise during the functioning of a robot are studied. A number of methods designed to eliminate this problem in various ways are proposed. The features and drawbacks of the four approaches are shown, and the design areas affected by these approaches are described.

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