Justification of the design of a manipulator for moving long workpieces
Students Name: Serenko Volodymyr Ivanovych
Qualification Level: magister
Speciality: Computer Engineering in Mechanical Engineering
Institute: Institute of Mechanical Engineering and Transport
Mode of Study: full
Academic Year: 2024-2025 н.р.
Language of Defence: ukrainian
Abstract: A manipulator is a device that allows you to transport a given semi-finished product from place A to place B in the desired direction, quantity and speed. It is possible to achieve these requirements with the help of an appropriate manipulator design. This master’s thesis focuses on the transportation of long workpieces (pipes) from the front device to the working space of the correct machine. The placement of long workpieces in the manipulator chute can be implemented in various ways, so it is important to conduct an analysis and choose the most optimal one. The main function of the manipulator is: loading, transporting, unloading or reloading. In modern enterprises, manipulators are part of production lines. Their choice significantly affects the productivity and profitability of the company. This master’s thesis explains the principles of several methods of laying long workpieces and selects the option that best meets the specified technical parameters. Based on analytical calculations, including drawing documentation, a design project of the manipulator is created. For the selected structural unit of the manipulator, an analysis of strength and stiffness FEM is performed. The thesis includes a design of a manipulator for transporting long workpieces (pipes) to the working space of the straighteners. The manipulator was developed in Autodesk Inventor Professional 2024 CAD. The object of research: manipulator for transporting long workpieces. The subject of the study: geometric, kinematic and force parameters of the manipulator for transporting long workpieces. The purpose of the study – development of a manipulator design for transporting long workpieces. The main goal of this master’s thesis was to create a new design of a manipulator for transporting long workpieces (pipes) into the working space of the straightener. The work was performed using the Autodesk Inventor Professional 2024 CAD software. The design solution of individual nodes was performed on the basis of analytical calculations. The work included an analytical check of important connections. Three design solutions for placing pipes in the manipulator chute were developed. Individual options were compared in terms of performing the required functions and the most suitable option was selected, which was studied in detail. For the input gripper design unit, a finite element stiffness and strength analysis was performed using the NX Nastran solver, which is part of the Siemens NX 8.5 CAD software. The individual components of the input grippers are satisfactory in terms of strength and stiffness, so normal operation will not cause damage to the input gripper mechanism. The purpose of this analysis is to verify the rigidity and strength of the input gripper assembly. The subject of the calculation is the reduced stress according to the HMH hypothesis and the deformation of individual elements under the action of the loading force selected by the pneumatic cylinders. The analysis is carried out for three states that may occur during the operation of the manipulator and should not cause damage to the input gripper mechanism. The first load condition (option A) is to install the correct levers in the working position without clamping the pipe. The second condition (option B) simulates clamping the pipe of maximum diameter (152 mm) by the correct levers. The third load condition (option C), on the contrary, simulates clamping the pipe of minimum diameter (35 mm). The developed manipulator meets the specified parameters, and the work includes 3D models of the manipulator and documentation drawings and a parts list. Key words: CAD, finite element method, manipulator, rectifier, Autodesk Inventor, Siemens NX.