PSI - Issue 42

Taško Maneski et al. / Procedia Structural Integrity 42 (2022) 1503–1511 T. Maneski at al/ Structural Integrity Procedia 00 (2019) 000 – 000

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Since robot 2 had very unfavorable behavior before the partial remediation of the structure, the table show the corresponding displacement and vibration measured for this machine. It is noticeable that after the repairs, the movements of robot 2 in all three directions were significantly reduced, as were its acceleration levels in the horizontal directions. For robots 1-3, it would be desirable to further reduce the horizontal displacement, which after our partial remediation, still exceeded the recommended values, even though the robots’ post -remediation acceleration was technically acceptable. The horizontal accelerations of robots 4 and 5 were still slightly too fast, but they had dropped to within the limits that were technically acceptable. The causes of these high accelerations were insufficient global stiffness of the main support structure in the horizontal plane, and insufficient local stiffness of the carriage supporting the robots, also in the horizontal plane. It should be emphasized that during the partial remediation, major interventions were not made to the main support structure or to the carriage substructure; rather, minimal remediation words were undertaken. However, these minimal interventions have brought the robots’ behavior to within the recommended limits, and have improved the horizontal rigidity of the structures. After the partial remediation, there have, to date, been no further malfunctions of any of the robotic gearboxes. Acknowledgements Presented results are the results of the research on Projects TP35040 and TP35011, supported by MPNTR RS, Contract 451-03-9/2021-14/200105 from 05.02.2021. References [1] https://www.kuka.com/en-at/products/robotics-systems/industrial-robots KUKA, Germany [2] M. Dahari, Jian-Ding Tan, Forward and inverse kinematics model for robotic welding process using KR-16KS KUKA robot, Fourth International Conference on Modeling, Simulation and Applied Optimization (2011) DOI:10.1109/ICMSAO.2011.5775598 [3] https://stamh.com/rs/roboti-za-farbanje Storage Technologies & Material Handling, Austria [4] Marek Vagaš ; Jan Semjon, Vladimi r Balaž ; Jozef Varga, Methodology for the vibration measurement and evaluation on the industrial robot Kuka, 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), (2015) IEEE Xplore [5] Claudio Urrea, Rodrigo Cisterna and John Kern Virtual Instrument for the Analysis of Vibrations in Rotary Machines, Applications from Engineering with MATLAB Concepts, Jan Valdman IntechOpen (2016) DOI: 10.5772/63736 [6] ISO 10816 Vibration Severity Standards, ISO 2372 (10816) [7] Željko Kanović, Milena Petković, Zoran Jeličić, Davor Andrašić, Process equipment condition monitoring systems based on vibration acquisition – an overview and a case study, Journal on Processing and Energy in Agriculture 20 (2016) 1; pp 4-8 [8] Maneski T., Kompjutersko modeliranje i proračun struktura, Mašinsk i fakultet Beograd (2002) [9] Test report - vibrations no. 4/14, ATC 01-269