Selected problems of design and pre-implementation studies of new types of manipulators

Main Article Content

Paweł Cegielski
Dariusz Golański
Paweł Kołodziejczak
Andrzej Kolasa
Bogusław Silbert
Yevhen Krykavskyy

Abstract

Conceptual development and testing of models and prototypes of manipulators, supporting the work of industrial robots, has become a specialty of the Department of Welding Engineering of the Warsaw University of Technology and ZAP Robotyka from Ostrow Wielkopolski. However, they are not typical devices, so their development requires a detailed analysis of many aspects, both functional and economic. Also the pre-implementation tests are not included in dedicated standards and must be based on previously developed experimental procedures. This article presents selected problems in the design and research of new types of manipulators, created as a result of joint research and development work.

Downloads

Download data is not yet available.

Article Details

How to Cite
[1]
P. Cegielski, D. Golański, P. Kołodziejczak, A. Kolasa, B. Silbert, and Y. Krykavskyy, “Selected problems of design and pre-implementation studies of new types of manipulators”, Weld. Tech. Rev., vol. 93, no. 3, pp. 11–29, Jul. 2023.
Section
Original Articles

References

Bolmsjo G.S.A., Kinematic description of a positioner and its application in arc welding robots. Automated and Robotic Welding, 11/1987.

Honczarenko J., Roboty przemysłowe. Budowa i zastosowanie. WNT Warszawa 2011.

Cegielski P., Golański D., Kołodziejczak P., Kolasa A., Sarnowski T. Studium rozwiązań konstrukcyjnych nowej generacji zewnętrznych osi robotów przemysłowych. Przegląd Spawalnictwa, 2017, Vol. 89(11) 84-92. https://doi.org/10.26628/ps.v89i11.839

Cegielski P., Golański D., Kołodziejczak P., Kolasa A., Sarnowski T., Silbert B. Analiza ruchowa w układzie ro-bot zewnętrzne osie z wykorzystaniem wirtualnego środowiska do programowania robotów w trybie off-line. Welding Technology Review, 2018, Vol.90(10), 13-22. https://doi.org/10.26628/ps.v90i10.946

Zdanowicz R., Robotyzacja dyskretnych procesów produkcyjnych. Wydawnictwo Politechniki Śląskiej, Gliwice, 2009.

Joni N., Dobra A., Specialized Positioners and Manipulators for Robotic Welding. Solid State Phenomena, vol. 166167, Trans Tech Publications, Ltd., Sept. 2010, pp. 235240. https://doi.org/10.4028/www.scientific.net/ssp.166-167.235.

Cegielski P., Kolasa A., Golański D., Kołodziejczak P., Rochalski D., Sarnowski T. Zaawansowane metody pro-jektowania i weryfikacji torów jezdnych i pozycjonerów spawalniczych zewnętrznych osi robotów. Biuletyn Instytutu Spawalnictwa w Gliwicach, 2018, 5, 35-41. https://doi.org/10.17729/ebis.2018.5/24

Ä°lman M.M., Karagülle H., Yavuz S.: Integrated design and analysis of two axis gimbal welding positioner with 750 kg loading capacity, Conf. proceedings 18 National Machine Theory Symposium, Trabzon, Turkey, 5-7 July 2017.

Pashkevich A., Dolgui A., Kinematic Control of A Robot-Positioner System for Arc Welding Application. Indus-trial Robotics: Programming, Simulation and Application, ISBN 3-86611-286-6, pp. 702, ARS/plV, Germany, December 2006, Edited by Low Kin Huat.

Pashkevich A., Dolgui A., Semkin K.I. Kinematic aspects of a robot-positioner system in an arc welding applica-tion. Control Engineering Practice, 2003, vol. 6(11), 633-647.

Chen H.M., Zhou P.L., Offline Programming for an Arc Welding Robot with Redundant DOF. Applied Mechanics and Materials, 2012, vol. 184185, 162327. https://doi.org/10.4028/www.scientific.net/amm.184-185.1623.

Mitsi, S., Bouzakis, K.D., Mansour, G. et al. Off-line programming of an industrial robot for manufacturing. In-ternational Journal of Advanced Manufacturing Technologies, 2005, Vol. 26, 262267. https://doi.org/10.1007/s00170-003-1728-5.

Cegielski, P., Golański, D., Kołodziejczak, P., Kolasa, A., Sarnowski, T., Silbert, B. and Krykavskyy, Y. 2019. Study of design and research of new welding manipulators on the example of an L-type positioner. Welding Technology Review. 2019, Vol. 91(7), 33-44. https://doi.org/10.26628/wtr.v91i7.1058.

Golański, D., Cegielski, P., Kołodziejczak, P., Kolasa, A., Rochalski, D. and Sarnowski, T. 2018. Verification of construction models of welding positioners based on FEM mathematical modeling. Welding Technology Review, 2018, Vol. 90(1). https://doi.org/10.26628/wtr.v90i1.850.