Naqib Daneshjo

Non-collision trajectories of service industrial robots

Abstract The innovative algorithm for robot collision testing was developed and debugged for programming industrial robots handling production and peripheral devices in a flexible manufacturing system. Due to this it allows the analysis of the robot effector and robot transition paths with the possibility of optimizing them in relation to the economy of the handling cycle, runway length, safety and operator time and overall handling performance. The key part of our proposal is to analyze the 3D model and its interpretation in a relevant form to enable data processing with modern computer graphics techniques with hardware support of calculations and work at the level of individual objects and polygons. Formalization of the robots direct and inverse kinematic structure allows control of its interaction during servicing movements with other robot devices and peripherals. This ensures the optimal and unobtrusive trajectory of each mechanical element of the industrial robot serving the production and peripheral devices in the intelligent system.

LOGISTICS OF EXPERIMENTING WITH STRENGTHENING THE SURFACE LAYERS OF MACHINE PARTS

The authors within the scientific contribution present the logistics of laboratory experimenting with strengthening the stressed surface layers of machine parts. The project for strengthening the surface layers was conducted without the use of ultrasonic strengthening via the newly developed device with a static pressing force. Emphasis was placed on the stage of identification of samples surface layers, their microstructure, roughness and hardness after lathe turning and shot peening as well as on the wear of the used forming element after shot peening. The process of experiment results in the modelling of technological conditions and parameters of a newly-designed and verified technology with formulating the logistics steps for practical use. Logistics can be seen, in addition to a structured arrangement of relationships and activities, as a control system process able to efficiently use available resources in terms of time and value within the various activities at the lowest costs incurred.