Construction of Industrial Robots

Major: Robotics and Mechatronics
Code of subject: 7.131.01.E.017
Credits: 6.00
Department: Department of Robotics and Integrated Mechanical Engineering Technologies
Lecturer: Gurskyi V.M.
Semester: 2 семестр
Mode of study: денна
Мета вивчення дисципліни: Studying the basics of calculation, design and construction of parts and assemblies of industrial robots based on the principles of a system approach and analysis. Mastering modern means for design and calculation to perform a complex analysis of strength, durability, parametric optimization according to the operating conditions of the mechanism of an industrial robot.
Завдання: General competences: ZK1. Ability to abstract thinking, analysis and synthesis. ZK3. Ability to identify, pose and solve problems. ZK6. Determination and persistence in relation to assigned tasks and assumed responsibilities. Special (professional, subject) competences: FK1. The ability to analyze materials, structures and processes based on the laws, theories and methods of mathematics and natural sciences, including – applied mechanics. FK2. The ability to evaluate the performance parameters of materials, structures and machines in operational conditions and find appropriate solutions to ensure the given level of reliability of structures and processes, including - in the presence of certain uncertainty. FK4. The ability to clearly and unambiguously convey one's own conclusions, knowledge and explanations to specialists and non-specialists, in particular, in the process of teaching.
Learning outcomes: PH1. Choose and apply suitable mathematical methods for solving problems of applied mechanics. PH2. Develop and put into production new types of products, in particular, perform research and design work and/or develop technological support for the process of their production. PH3. Perform calculations on the strength, durability, stability, durability, rigidity of machine parts. PH4. Assess the reliability of machine parts and structures in the process of static and dynamic loading. PH5. Perform geometric modeling of details, mechanisms and structures in the form of spatial models and projection images; to draw up the results in the form of technical and working drawings. PH7. Apply regulatory and reference data to control compliance of technical documentation, products and technologies with standards, technical conditions and other regulatory documents. PH11. Develop management and/or technological solutions under uncertain conditions and requirements, evaluate and compare alternatives, analyze risks, predict possible consequences.
Required prior and related subjects: Industrial robotics. Automated design of technological equipment. Design of robotic systems. Completion of master's qualification work.
Summary of the subject: The course "Designing industrial robots" involves the formation of knowledge and practical skills of modern engineering vision for the calculation and design of industrial robots and manipulators. The course is based on the study of general provisions for the design of industrial robots based on the model of leading manufacturers (KUKA, ABB, FANUC). Important attention in the course is given to designing according to a set of requirements, implementation of multivariate constructions, their parameterization, optimization synthesis and analysis using applied calculation programs based on the finite element method.
Опис: Typical designs of industrial robots. Principles of designing industrial robots. Design of mechanical systems of industrial robots. Transmission mechanisms of industrial robots. Dynamic characteristics of industrial robots.
Assessment methods and criteria: Current control – performance and defense of practical works, oral and frontal examination. Exam - test control.
Критерії оцінювання результатів навчання: Letters from practical robots, assimilated without sleep (30%). Summary control (іspit) - letter-and-form form (70%).
Порядок та критерії виставляння балів та оцінок: 100-88 points - certified with an “excellent” grade - High level: the student demonstrates an in-depth mastery of the conceptual and categorical apparatus of the discipline, systematic knowledge, skills and abilities of their practical application. The mastered knowledge, skills and abilities provide the ability to independently formulate goals and organize learning activities, search and find solutions in non-standard, atypical educational and professional situations. The applicant demonstrates the ability to make generalizations based on critical analysis of factual material, ideas, theories and concepts, to formulate conclusions based on them. His/her activity is based on interest and motivation for self-development, continuous professional development, independent research activities, implemented with the support and guidance of the teacher. 87-71 points - certified with a grade of “good” - Sufficient level: involves mastery of the conceptual and categorical apparatus of the discipline at an advanced level, conscious use of knowledge, skills and abilities to reveal the essence of the issue. Possession of a partially structured set of knowledge provides the ability to apply it in familiar educational and professional situations. Aware of the specifics of tasks and learning situations, the student demonstrates the ability to search for and choose their solution according to the given sample, to argue for the use of a particular method of solving the problem. Their activities are based on interest and motivation for self-development and continuous professional development. 70-50 points - certified with a grade of “satisfactory” - Satisfactory level: outlines the mastery of the conceptual and categorical apparatus of the discipline at the average level, partial awareness of educational and professional tasks, problems and situations, knowledge of ways to solve typical problems and tasks. The applicant demonstrates an average level of skills and abilities to apply knowledge in practice, and solving problems requires assistance, support from a model. The basis of learning activities is situational and heuristic, dominated by motives of duty, unconscious use of opportunities for self-development. 49-00 points - certified with a grade of “unsatisfactory” - Unsatisfactory level: indicates an elementary mastery of the conceptual and categorical apparatus of the discipline, a general understanding of the content of the educational material, partial use of knowledge, skills and abilities. The basis of learning activities is situational and pragmatic interest.
Recommended books: 1. Tymynhs R.L. Spravochnyk ynzhenera-mekhanyka. — Moskva: Tekhnosfera, 2008. — 632 s. 2. Burdakov S. F., Diachenko V. A., Tymofeev A. N. Proektyrovanye manypuliatorov y robotyzyrovannыkh kompleksov.— M. : Vыssh. shk., 1986.— 264 s. 3. Detaly y mekhanyzmы robotov: Osnovы rascheta, konstruyrovanyia y tekhnolohyy proyz-vodstva / R. S. Veselkov, T. N. Hontarovskaia, V. P. Hontarovskyi y dr.; Pod red. B. B. Sa-motokyna.— K. :Vыshcha shk. Holovnoe yzd-vo,1990.— 343 s. 4. Mekhanyka promыshlennыkh robotov: V 3 kn./ Pod red. K. V. Frolova, E. Y. Vorobeva.— M: : Vыssh. shk., 1988—1989.— Kn. 1—3. 5. Ben-Zion Sandier. Robotics. Designing the Mechanisms for Automated Machinery. Second Edition. 1999. – 444 р. 6. Murat Akda. Design and analysis of robot manipulators by integrated cae procedures. 2008. – 150 р. 7. Andre Jaber. Concept design of an ultra-light industrial robot. 2012. – 97 р. 8. D. J. Todd. Fundamentals of Robot Technology: An Introduction to Industrial Robots, Teleoperators and Robot Vehicles. – London, 1986, 244 p.

Construction of Industrial Robots (курсовий проєкт)

Major: Robotics and Mechatronics
Code of subject: 7.131.01.E.019
Credits: 3.00
Department: Department of Robotics and Integrated Mechanical Engineering Technologies
Lecturer: Gurskyi V.M.
Semester: 2 семестр
Mode of study: денна
Мета вивчення дисципліни: Studying the basics of calculation, design and construction of parts and assemblies of industrial robots based on the principles of a system approach and analysis. Mastering modern means for design and calculation to perform a complex analysis of strength, durability, parametric optimization according to the operating conditions of the mechanism of an industrial robot.
Завдання: General competences: ZK1. Ability to abstract thinking, analysis and synthesis. ZK3. Ability to identify, pose and solve problems. ZK6. Determination and persistence in relation to assigned tasks and assumed responsibilities. Special (professional, subject) competences: FK1. The ability to analyze materials, structures and processes based on the laws, theories and methods of mathematics and natural sciences, including – applied mechanics. FK2. The ability to evaluate the performance parameters of materials, structures and machines in operational conditions and find appropriate solutions to ensure the given level of reliability of structures and processes, including - in the presence of certain uncertainty. FK4. The ability to clearly and unambiguously convey one's own conclusions, knowledge and explanations to specialists and non-specialists, in particular, in the process of teaching.
Learning outcomes: PH1. Choose and apply suitable mathematical methods for solving problems of applied mechanics. PH2. Develop and put into production new types of products, in particular, perform research and design work and/or develop technological support for the process of their production. PH3. Perform calculations on the strength, durability, stability, durability, rigidity of machine parts. PH4. Assess the reliability of machine parts and structures in the process of static and dynamic loading. PH5. Perform geometric modeling of details, mechanisms and structures in the form of spatial models and projection images; to draw up the results in the form of technical and working drawings. PH7. Apply regulatory and reference data to control compliance of technical documentation, products and technologies with standards, technical conditions and other regulatory documents. PH11. Develop management and/or technological solutions under uncertain conditions and requirements, evaluate and compare alternatives, analyze risks, predict possible consequences.
Required prior and related subjects: Industrial robotics. Automated design of technological equipment. Design of robotic systems. Completion of master's qualification work.
Summary of the subject: The course "Designing industrial robots" involves the formation of knowledge and practical skills of modern engineering vision for the calculation and design of industrial robots and manipulators. The course is based on the study of general provisions for the design of industrial robots based on the model of leading manufacturers (KUKA, ABB, FANUC). Important attention in the course is given to designing according to a set of requirements, implementation of multivariate constructions, their parameterization, optimization synthesis and analysis using applied calculation programs based on the finite element method.
Опис: The topic of the project is "Designing a mechanism ... of an industrial robot .... (specify the type of mechanism)". During the implementation of the course project, the student independently performs a specific problem on the design of the mechanism of an industrial robot. During design, a set of requirements for the mechanism is formed. For this, you should choose a basic model. On the basis of the structural-kinematic scheme, possible characteristics and their refinement are formed. The student designs on the basis of 3D systems using applications for stress-strain analysis. Loads are formed according to the operating conditions of the mechanism as a whole. The multivariate design is formed on the basis of the principle of parametric design and subsequent optimization of design parameters.
Assessment methods and criteria: An oral survey based on the results of calculations and the graphic part of the project.
Критерії оцінювання результатів навчання: Assessment - oral form (100%).
Порядок та критерії виставляння балів та оцінок: 100-88 points - certified with an “excellent” grade - High level: the student demonstrates an in-depth mastery of the conceptual and categorical apparatus of the discipline, systematic knowledge, skills and abilities of their practical application. The mastered knowledge, skills and abilities provide the ability to independently formulate goals and organize learning activities, search and find solutions in non-standard, atypical educational and professional situations. The applicant demonstrates the ability to make generalizations based on critical analysis of factual material, ideas, theories and concepts, to formulate conclusions based on them. His/her activity is based on interest and motivation for self-development, continuous professional development, independent research activities, implemented with the support and guidance of the teacher. 87-71 points - certified with a grade of “good” - Sufficient level: involves mastery of the conceptual and categorical apparatus of the discipline at an advanced level, conscious use of knowledge, skills and abilities to reveal the essence of the issue. Possession of a partially structured set of knowledge provides the ability to apply it in familiar educational and professional situations. Aware of the specifics of tasks and learning situations, the student demonstrates the ability to search for and choose their solution according to the given sample, to argue for the use of a particular method of solving the problem. Their activities are based on interest and motivation for self-development and continuous professional development. 70-50 points - certified with a grade of “satisfactory” - Satisfactory level: outlines the mastery of the conceptual and categorical apparatus of the discipline at the average level, partial awareness of educational and professional tasks, problems and situations, knowledge of ways to solve typical problems and tasks. The applicant demonstrates an average level of skills and abilities to apply knowledge in practice, and solving problems requires assistance, support from a model. The basis of learning activities is situational and heuristic, dominated by motives of duty, unconscious use of opportunities for self-development. 49-00 points - certified with a grade of “unsatisfactory” - Unsatisfactory level: indicates an elementary mastery of the conceptual and categorical apparatus of the discipline, a general understanding of the content of the educational material, partial use of knowledge, skills and abilities. The basis of learning activities is situational and pragmatic interest.
Recommended books: 1. Tymynhs R.L. Spravochnyk ynzhenera-mekhanyka. — Moskva: Tekhnosfera, 2008. — 632 s. 2. Burdakov S. F., Diachenko V. A., Tymofeev A. N. Proektyrovanye manypuliatorov y robotyzyrovannыkh kompleksov.— M. : Vыssh. shk., 1986.— 264 s. 3. Detaly y mekhanyzmы robotov: Osnovы rascheta, konstruyrovanyia y tekhnolohyy proyz-vodstva / R. S. Veselkov, T. N. Hontarovskaia, V. P. Hontarovskyi y dr.; Pod red. B. B. Sa-motokyna.— K. :Vыshcha shk. Holovnoe yzd-vo,1990.— 343 s. 4. Mekhanyka promыshlennыkh robotov: V 3 kn./ Pod red. K. V. Frolova, E. Y. Vorobeva.— M: : Vыssh. shk., 1988—1989.— Kn. 1—3. 5. Ben-Zion Sandier. Robotics. Designing the Mechanisms for Automated Machinery. Second Edition. 1999. – 444 р. 6. Murat Akda. Design and analysis of robot manipulators by integrated cae procedures. 2008. – 150 р. 7. Andre Jaber. Concept design of an ultra-light industrial robot. 2012. – 97 р. 8. D. J. Todd. Fundamentals of Robot Technology: An Introduction to Industrial Robots, Teleoperators and Robot Vehicles. – London, 1986, 244 p.