Calculus and Implementation of a TRTR Industrial Robot Servicing a Flexible Manufacturing Cell Destined for the AAV Building Industry

• Published in: Applied Mechanics and Materials Vol. 332; pp. 171 - 180
• Main Authors: Petrişor, Silviu Mihai, Bârsan, Ghiţă
• Format: Journal Article
• Language: English
• Published: Zurich Trans Tech Publications Ltd 01.07.2013
• Subjects: Geometry; Closed-Loop Control; Industrial Robot; Flexible Manufacturing Systems; Kinematics
• ISBN: 3037857331; 9783037857335
• ISSN: 1660-9336; 1662-7482; 1662-7482
• DOI: 10.4028/www.scientific.net/AMM.332.171

The authors of this paper aims to highlight the basic design of a flexible manufacturing cell with parallel organization destined for the assembly of tires on AAV carcasses shafts, operation performed by a TRTR serial-modular industrial robot. The paper describes, in detail: the direct and inverse geometric modeling of the mechanical structure, the direct kinematic modeling of the industrial robot under study, by calculating and illustrating, by means of time development graphs, the column vectors of the generalized coordinates as well as the prehension device characteristic point trajectory that define, at a given moment, its position, orientation and movement within the flexible manufacturing cell proposed for implementation. The final part of the paper presents, based on several functional parameters mandatory for the building of the FMC, the calculus of economic indicators necessary for the optimum functioning of the cell as well as for determining the value of the robot included in its activity and of the overall flexible manufacturing system.