TY - JOUR AU - Beisembayev, Akambay AU - Yerbossynova, Anargul AU - Pavlenko, Petro AU - Baibatshayev, Mukhit PY - 2021/12/21 Y2 - 2024/03/28 TI - Method for analytical description and modeling of the working space of a manipulation robot JF - Eastern-European Journal of Enterprise Technologies JA - EEJET VL - 6 IS - 7 (114) SE - Applied mechanics DO - 10.15587/1729-4061.2021.246533 UR - https://journals.uran.ua/eejet/article/view/246533 SP - 12-20 AB - <p>This paper reports a method, built in the form of a logic function, for describing the working spaces of manipulation robots analytically. A working space is defined as a work area or reachable area by a manipulation robot. An example of describing the working space of a manipulation robot with seven rotational degrees of mobility has been considered.</p><p>Technological processes in robotic industries can be associated with the positioning of the grip, at the required points, in the predefined coordinates, or with the execution of the movement of a working body along the predefined trajectories, which can also be determined using the required points in the predefined coordinates. A necessary condition for a manipulation robot to execute a specified process is that all the required positioning points should be within a working space.</p><p>To solve this task, a method is proposed that involves the analysis of the kinematic scheme of a manipulation robot in order to acquire a graphic image of the working space to identify boundary surfaces, as well as identify additional surfaces. The working space is limited by a set of boundary surfaces where additional surfaces are needed to highlight parts of the working space. Specifying each surface as a logic function, the working space is described piece by piece. Next, the resulting parts are combined with a logical expression, which is a disjunctive normal form of logic functions, which is an analytical description of the working space.</p><p>The correspondence of the obtained analytical description to the original graphic image of working space is verified by simulating the disjunctive normal form of logic functions using MATLAB (USA).</p> ER -