ПРОЕКТУВАННЯ РОБОТИЗОВАНОЇ РОБОЧОЇ СТАНЦІЇ НА БАЗІ РОБОТА З ДВОМА МЕХАНІЧНИМИ РУКАМИ

Urgency of the research. Deployment of two-arm robots in different plants increases production or assembly efficiency. By designing a robotized workstation for assembly we will improve students' competences in the field of robot programming. By preparing students at robotic workplaces using two-arm robots, we increase their employment in the labor market.Target setting. The aim of the solution is to design an educational workplace for assembly, equipped with a two-arm robot. The object gripper uses Schunk electric grippers to adjust the range of movement and clamping force. This will allow students to create an optimal program according to individual requirements.Actual scientific researches and issues analysis. The question of the use of collaborative robotics in industry is highly relevant. If two-arm industrial robots are equipped with safety sensors, we can increase the safety of working in collaborative workplaces without using a collaborative robot.Uninvestigated parts of general matters defining. Increasing the skills of students in the programming of industrial robots, improves their possibilities of employment in practice. At the same time, it creates conditions for maintaining the growth of the national economy in the near future.The research objective. The aim of the research was to design a robotic workplace so that students could use a creative approach to solve a given problem. At the same time, the use of the Faculty logo as a model for the proposed assembly preparation will increase the social awareness of the whole university.The statement of basic materials. The deployment of two-arm robots and the preparation of workers for their programming, maintenance and operation will ensure the development of robotics and facilitate manual work. This also leads to an increase in the share of production and deployment of products with higher added value.Conclusions. The article describes the design, production, programming and commissioning of a robotized workplace for educational purposes. The workplace is equipped with a two-arm Yaskawa robot and a pair of Schunk electric grippers. The aim of the work was to design an assembly and dismantling process that would demonstrate the possibilities of working on a two-arm robot. The robotized workstation, when completed, allows the rotary cylinder to be inserted and then removed in a closed loop. Manipulated parts are found in the proposed fixtures, whose shape is based on the university's initial fonts, which make up its logo. Students participating in the learning process will be able to modify the program based on the teacher's assignment and thus improve their robot programming skills. Актуальність теми дослідження. Використання роботів з двома механізованими руками на різних заводах підвищує ефективність виробництва або складання. Розробка роботизованої робочої станції підвищує компетентність студентів у галузі програмування роботів. Проведення занять для студентів на робочих місцях, оснащених дворукими роботами, збільшує їх зайнятість на ринку праці.Постановка проблеми. Необхідно розробити навчальне робоче місце для складання, обладнане роботом з двома механізованими руками. Захоплення об'єкта здійснюється електричними захватами Schunk, можливе регулювання сили затискання. Це дозволить навчитись студентам створювати оптимальну програму роботи робота відповідно до індивідуальних вимог.Аналіз останніх досліджень і публікацій. Питання про використання робототехніки у промисловості є дуже актуальним. Оснащення промислових роботів з двома механізованими руками спеціальними датчиками, підвищує безпеку роботи на робочих місцях, де одночасно працює декілька роботів.Виділення недосліджених частин загальної проблеми. Підвищення кваліфікації студентів з програмування промислових роботів, покращує їх можливості працевлаштування. Водночас це створює умови для підтримки зростання національної економіки у найближчому майбутньому.Постановка завдання. Метою дослідження є розробка робота, щоб студенти мали можливість використовувати творчий підхід для вирішення заданої проблеми. У той же час використання логотипу факультету у якості моделі для складання збільшить соціальну обізнаність усього університету.Виклад основного матеріалу. Розповсюдження дворуких роботів та підготовка працівників до їх програмування, обслуговування та експлуатації забезпечать розвиток робототехніки та полегшить ручну роботу. Це також сприятиме збільшенню частки виробництва та розміщенню продукції з більш високою доданою вартістю.Висновки відповідно до статті. У статті описано проектування, виробництво, програмування та введення в експлуатацію роботизованого робочого місця для освітніх цілей. Робоче місце оснащене дворуким роботом Yaskawa та парою електричних захватів Schunk. Метою роботи є розробка процесу складання та демонтажу, який би демонстрував можливості роботи дворуких роботів. Роботизована робоча станція дозволяє здійснювати програмування роботів на виконання послідовних дій, наприклад, вставити поворотний циліндр і потім вийняти його в закритому циклі. У якості робочого простору дворукого роботу використовуються спеціальні шаблони, форма яких заснована на початкових шрифтах університету, які складають його логотип. Студенти, які беруть участь у навчальному процесі, зможуть модифікувати програму на основі завдання вчителя та таким чином вдосконалити свої навички роботи з роботизованими станціями

PROPOSAL OF HANDLING PROCESS ON ROBOTIZED WORKPLACE WITH DUAL ARM ROBOT

Urgency of the research. Deployment of two-arm robots in different plants increases production or assembly efficiency. By designing a robotized workstation for assembly we will improve students' competences in the field of robot programming. By preparing students at robotic workplaces using two-arm robots, we increase their employment in the labor market. Target setting. The aim of the solution is to design an educational workplace for assembly, equipped with a two-arm robot. The object gripper uses Schunk electric grippers to adjust the range of movement and clamping force. This will allow students to create an optimal program according to individual requirements. Actual scientific researches and issues analysis. The question of the use of collaborative robotics in industry is highly relevant. If two-arm industrial robots are equipped with safety sensors, we can increase the safety of working in collaborative workplaces without using a collaborative robot. Uninvestigated parts of general matters defining. Increasing the skills of students in the programming of industrial robots, improves their possibilities of employment in practice. At the same time, it creates conditions for maintaining the growth of the national economy in the near future. The research objective. The aim of the research was to design a robotic workplace so that students could use a creative approach to solve a given problem. At the same time, the use of the Faculty logo as a model for the proposed assembly preparation will increase the social awareness of the whole university. The statement of basic materials. The deployment of two-arm robots and the preparation of workers for their programming, maintenance and operation will ensure the development of robotics and facilitate manual work. This also leads to an increase in the share of production and deployment of products with higher added value. Conclusions. The article describes the design, production, programming and commissioning of a robotized workplace for educational purposes. The workplace is equipped with a two-arm Yaskawa robot and a pair of Schunk electric grippers. The aim of the work was to design an assembly and dismantling process that would demonstrate the possibilities of working on a two-arm robot. The robotized workstation, when completed, allows the rotary cylinder to be inserted and then removed in a closed loop. Manipulated parts are found in the proposed fixtures, whose shape is based on the university's initial fonts, which make up its logo. Students participating in the learning process will be able to modify the program based on the teacher's assignment and thus improve their robot programming skills.</jats:p

CREATION OF A 3D MODEL OF ROBOT ACTIVITY ASSEMBLY IN THE ROBODK ENVIRONMENT

The article describes the creation of a simulation of a robotic training workplace in the RoboDK environment. The workplace is equipped with a two-arm industrial robot Yaskawa SDA 10F, which is equipped with electric grippers Schunk. The workplace also includes a system of two jigs, where the robot translates plastic and metal rollers between the jigs. Jigs can be moved as needed within the robot's workspace. The created simulation fulfills the role of a demonstration program for training students or workers in industry. The article is a publication of scientific and methodical character.</jats:p

Miocene Volcanism in the Slovensk&yacute; Raj Mountains: Magmatic, Space, and Time Relationships in the Western Carpathians

The Miocene volcanic-intrusive complex in the Slovensk&yacute; Raj Mountains, middle Slovakia, comprises a swarm of subalkaline basalts and basaltic andesites with alkaline basalts, trachybasalts and basaltic trachyandesites. Basaltic to doleritic feeder dykes and sporadic hyaloclastite lavas are exposed in contact with the Triassic B&oacute;dvaszilas Formation of the Silica Nappe. The primary clinopyroxene, plagioclase, and Fe-Ti oxide assemblage also contains calcite spheroids inferred to represent carbonatitic melt. These spheroids are associated with subsolidus chlorite, actinolite, magnetite, titanite, calcite, and epidote. Micropoikilitic clinopyroxene, albite, and Ti-magnetite formed due to rapid quenching. There was an incorporation of host rock carbonate during the eruption. The erupted products are the result of magmatic differentiation of the parental basaltic tholeiitic magma with a redox of &#8710;QFM = +1 to +3, affected by varying degrees of 0%&ndash;50% fractionation and the assimilation of carbonate material in a shallow magmatic reservoir. REE geochemistry shows N-MORB-like type patterns with both LaN/YbN and LaN/SmN &lt; 1 at near constant Eu/Eu* (~0.9). This is supported by &epsilon;Nd(t=13&nbsp;Ma) values of +8.0 to +7.4 determined from the basaltic rocks. The REE values can be modeled by 1% fractional melting of garnet peridotite mixed with 7% melting of spinel peridotite of PM composition (1:9 proportions). SIMS and LA-ICP-MS U/Pb analysis of zircons yields a concordant age of 12.69 &plusmn; 0.24 Ma and a 13.3 &plusmn; 0.16 Ma intercept (Serravallian) age. The Middle Miocene volcanic activity was related to subduction-collision processes along the boundary of the Cenozoic ALCAPA (Alps&ndash;Carpathians&ndash;Pannonia) microplate and the southern margin of the European plate

Meta-igneous rocks of the West-Carpathian basement, Slovakia: indicators of Early Paleozoic extension and shortening events

Abstract The paper reviews the main West-Carpathian Early Paleozoic metamorphosed originally sedimentary-magmatic complexes, dated by SHRIMP on zircons, as indicators of crustal extension and shortening events. Igneous precursors of a Layered Amphibolite Complex (LAC) – fractionated upper mantle gabbros to diorites, dated at 503 ± 4 and 492 ± 4 Ma from the North-Veporic, or 480 ± 5 and 450 ± 6 Ma from the Tatric basement are contemporaneous with subaluminous to metaluminous I-type (507 ± 4 Ma, the South-Veporic basement), peraluminous S-type (497 ± 4 Ma, the South-Veporic basement; 516 ± 7, 485 ± 6 and 462 ± 6 Ma, the North-Veporic basement; 497 ± 6, 472 ± 6 and 450 ± 6 Ma, the Tatric basement), alkaline A-type (511 ± 6 Ma, South-Veporic basement) granitic orthogneisses and calcalkaline rhyolitic (482 ± 6 Ma) and dacitic (476 ± 7 Ma) metavolcanics (Gemeric basement), indicating a magmatic immature back arc setting. The ages point to Middle/Late Cambrian, Early and Late Ordovician magmatic phases, coeval with the extension in the northern Gondwana margin. Separation of an inferred Avalonian and/or Galatian terranes distal continental ribbon corresponds with the opening of a Medio-European Basin. A 430-390 Ma dated MP/HP metamorphic event, recorded in the LAC and associated orthogneisses, occurred in the area of thinned immature back arc basin crust due to closure of the Medio-European Basin. Thus a distal Gondwana continental ribbon north of this basin could be an eastward lateral pendant of Armorica, derived from Galatian terrane. Metaophiolites of the Pernek Group (a metagabbrodolerite dated at 371 ± 4 Ma) in the Tatric basement, analogous to island-arc tholeiites and back-arc basin basalts, indicate a back-arc basin setting north of a 430-390 Ma old northward dipping subduction/collision zone, dividing the northward drifting western Galatian terrane microplate from the Gondwana margin. Some metabasites of the Gemeric basement might indicate Late Devonian to Mississippian opening of a peri-Gondwanan Paleotethyan oceanic basin: a 383 ± 3 Ma old remelted metagabbro (482 ± 9 Ma) from the Klátov gneiss-amphibolite complex, ca. 385 Ma old porphyritic metabasite of the Zlatník ophiolite complex, as well as a 350 ± 5 Ma old HP metabasite as tectonic fragment within the Rakovec Group. The closure of Devonian-Mississippian basins, accompanied by medium-pressure (the Pernek Group) to high-pressure (blueschist to eclogitic tectonic fragments in greenschist facies rocks of the Rakovec Group) metamorphism, occurred in late Carboniferous to early Permian, when Paleotethyan realm complexes accreted to a Galatian terrane microplate, the latter represented by the older and the higher-grade Tatric and Veporic basement complexes.</jats:p