ANALYSIS OF AIR-SPRING FOR A LINK OF HYPER-REDUNDANT MANIPULATOR

УДК:621.865.8

DOI: 10.25140/2411-5363-2018-4(14)-66-77

Author:

Gmiterko Alexsander , Technical University of Košice (Letna 9, 04200 Košice, Slovak Republic)

Miková Lubica , Technical University of Košice (Letna 9, 04200 Košice, Slovak Republic)

Prada Erik ,

Language: english

Annotation:

Urgency of the research. This research paper deals with a designing and analyzing of link for hyper-redundant manipulator/mechanism. The paper investigates 6-DOF manipulator link, consisting of pneumatic as well as electromagnetic actuators. A motion of upper platform of the link is reached by pneumatic actuators, namely air-springs. The main focus of this research is analysis of air-spring and its properties. From this reason FEM analysis is done in software SolidWorks. In the conclusion the results are discussed. Pneumatic actuators can play interesting role in order to be possible to change the mechanical properties of the manipulators.

Target setting. Analysis of air-spring actuator for hyper-redundant manipulator.

Actual scientific researches and issues analysis. Most of robotic arms consist of electrical actuators. Using pneumatic actuators the manipulator gets new properties like changing stiffness.

Uninvestigated parts of general matters defining. Air-springs are still in the process of investigation from the view of mechanisms actuator.

The research objective. In the paper simulations and analysis of the air-spring are done.

The statement of basic materials. This paper investigates the area of modeling in software SolidWorks. At first CAD model of new segment for hyperredundant manipulator is introduced and its basic parts are described. Then, in the preprocessing phase, the detailed steps of its setup SolidWorks computation core were described. The second half of the article is to focus on the calculation and assessment of simulation results.

Conclusions. The paper introduces new kind of manipulator link. The link is analyzed and tested by simulation.

Key words:

bellows; hyper-redundant; pneumatic joint; manipulator.

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