Modeling the kinematics of the robot’s crank-slider mechanism in the “IS Mathematical Constructor” software environment

Abstract

Creating new industrial robots (IR) in the world is impossible without the use of information technology. The application of information technology has significantly changed the style of educational processes in teaching disciplines related to robotic systems and complexes. The aim of the work was to develop a methodology for the kinematic analysis of the primary crank-slider mechanism of an industrial robot using the software environment "1C Mathematical Constructor." In doing so, the following tasks were addressed: utilizing the built-in functions of the software environment for designing and performing kinematic calculations of the crank-slider mechanism in the IR design; identifying the functions of the software environment that enable motion animation. The "1C Mathematical Constructor" software environment is a creative computer environment that allows the creation of models that combine design, dynamic research, and animation experiments. The solution algorithm is divided into simple computational procedures. Students can independently verify the accuracy of the calculations at each stage of the solution. This type of programming extensively uses a system of built-in functions, which makes it easy to perform differentiation, i.e., calculate the velocities and accelerations of specific points of the lever mechanisms. These results allow for the evaluation of the reach limits of the gripper and the selection of its motion trajectory. This software environment provides a visual animated representation of the motion trajectories of the points of the links, changes in the magnitudes and directions of velocity and acceleration vectors on the display screen over time. Using the "1C Mathematical Constructor" application package effectively solves a class of tasks related to modeling the motions of the crank-slider mechanism within robots in animation, as well as visually depicting the velocity and acceleration vectors of the points of the links.