Viorel Ispas

The Palletization of Car Batteries Produced by S.C. ROMBAT S.A, Bistriţa, Romania, Using the Serial Robot TRTR1

By using the finite displacements theory, this paper establishes relations of dependency between the initial and the final positions of the car batteries and the geometric and design parameters of the robot. For this, the structural kinematic scheme of the robot was used to apply gradually this theory, from the end-effector to the base of the robot. To utilize the finite displacements theory is necessary to register the two positions of the manipulated object in the same reference system. This thing can be done by using matrix relations which transforms the coordinates of the points from one system to another. These relations, along with specific relations from the finite displacements theory, lead to a matriceal algorithm suitable for computer implementation. The numerical application presented in this paper shows the final position of the car battery on the stock pallet, if the geometric parameters, the design parameters and the initial position of the battery are given.

Contributions to the Palletization of Auto Batteries Using the Finite Displacements Theory

After identifying the places in which the palletization of auto batteries from S.C. ROMBAT S.A. Bistrita can be done, the structural kinematic scheme of the articulated robot IGM RT 330.1/370.1 (which can be found in S.C. ROMBAT S.A.) was developed. Forwards, by using the finite displacements theory of a rigid solid, the paper presents an algorithm of calculation in order to establish the relations of dependency between the initial and the final positions of the batteries and the constructive parameters of the robot. The algorithm of calculation has a matrix form that is suitable for computer implementation.