Determination of development grounds and characteristics of mobile multi-coordinate robotic machines for materials machining in field conditions

Authors:

V.B.Strutynskyi, Dr. Sc. (Tech.), Prof., The National Technical University of Ukraine “Kyiv Polytechnic Institute”, Kyiv, Ukraine

A.A.Hurzhiy, Cand. Sc. (Tech.), LLC “Advanced Network Consulting“, Kyiv, Ukraine

O.V.Kolot, Dr. Sc. (Tech.), Prof., The National Technical University of Ukraine “Kyiv Polytechnic Institute”, Kyiv, Ukraine

V.Е.Polunichev, The National Technical University of Ukraine “Kyiv Polytechnic Institute”, Kyiv, Ukraine

Abstract:

Purpose. Theoretical foundation and development of equipment for precision machining of objects in the field condition.

Methodology. Mainly, the theoretical research methods which include the determination of the elastic system stiffness matrix of the machine and the manipulator were applied. Circuit and structural solutions of mobile multicoordinate robotic machine were theoretically grounded. Mathematic simulation of the object processing with the mobile robotic machine was conducted. On the basis of the mathematic simulation analysis, the peculiarities of deformation characteristics of machine were defined through the determined stiffness matrices.

Findings. The concept of precision machining of objects in the field conditions with a mobile robotic machine was substantiated. It is based on the application of equipment with low stiffness in conjunction with a special manipulator, which is tightly linked to the object and provides the necessary movement of a tool. The circuit of the precision machining of objects with mobile robotic machine was grounded. This circuit fulfills the use of two dual mechanisms-hexapods, one of which is the pivotal system of the machine and the other is the system of manipulator. The means of machine working space increase by means of telescopic rods of the variable length with the pneumatic drives were suggested. Conditions for the improvement of the accuracy of the robotic machine during the process of machining with a rotary cutting tool were determined. They include accordance of the main axes of the manipulator stiffness matrix and the movement direction of the rotary cutting tool. The type and nature of the machining faults and their interrelation with the parameters of the machine stiffness and the manipulator stiffness were determined.

Originality. For the first time the concept of precision machining with robotic machines that have low stiffness of the carrying system is developed. The concept consists in the application of the manipulator that is rigidly fixed to the processed object and associated with the final controlling element of the machine. The component of stiffness matrix of the machine and the manipulator are brought into proper correlation, which provides the possibility of precision machining with mobile robotic machines. The fault calculation methods of the details processing with a rotary cutting tool on machines with parallel kinematic structures have attained the further development.

Practical value. The results of the research are the basis for the development of high-performance robotic machines for machining the hazardous objects in the field conditions. On the basis of the obtained results the working space of the mobile robotic machine increases by 3–5 times and precision of machining in the field condition increases to 8–9 accuracy degree.

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