September 2020
Guest Editor-in-Chief:
Cor. member Prof. Petko Petkov, D.Sc.
Preface for Issue 1
DOI: 10.47978/TUS.2020.70.01
Table of Contents
PREDICTIVE MODELS FOR ESTIMATING THE SIZE OF OBJECTS WITH ELECTRICAL GRIPPER OF MITSUBISHI MELFA INDUSTRIAL ROBOT
Danail Slavov
Abstract
This paper presents research on estimating the size of objects gripped by an industrial robot electric hand. Using the robot, data for objects with the known size is collected and these sizes are evaluated in real-time based on the dataset obtained. The estimation models thus obtained aim to predict the size of new objects. Experiments are conducted to determine the applicability of the results. For the data collection, predictive models implementation, and feasibility verification stages, a group of programs is developed only by the means of the RT Toolbox 3 environment and MELFA Basic V programming language.
Keywords
industrial robot, machine learning, neural networks, gripper.
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DOI: 10.47978/TUS.2020.70.01.001
References:
[1] Robotics Online Marketing Team (2018), Pick and Place Robots: What Are They Used For and How Do They Benefit Manufacturers?, RIA - Robotics Online (https://www.robot-ics.org/blog-article.cfm/Pick-and-Place-Robots-What-Are-They-Used-For-and-How-Do-They-Benefit-Manufacturers/88, достъпен на 13.07.2020 г.).
[2] Allen W. (2020), What is a pick and place robot?, 6 River Systems (https://6river.com/what-is-a-pick-and-place-robot/, достъпен на 13.07.2020 г.).
[3] (2018), Multifunctional Electric Hand Option Instruction Manual, Mitsubishi Electric
[4] Д. Димитров, Д. Никовски, Изкуствен интелект, второ преработено издание, Издателски комплекс на Технически университет - София, 1999
MODERNIZATION AND STUDY OF THE DRIVE SYSTEM OF A MACHINING CENTER WITH COMPUTER NUMERICAL CONTROL
Marin Zhilevski, Mikho Mikhov
Abstract
A generalized algorithm for the selection of the electric drive system for a class of machining centers with computer numerical control is presented in this paper. The successive steps for the calculation of feed and spindle drives in scraping operations are shown in tabular form. The electric drive system for the considered class of machines has been studied through computer simulation and on the basis of practical implementations with developed ladder diagrams. Research carried out and the results obtained can be used in the modernization of such type of machine tools.
Keywords
electric drive, machining center, CNC system.
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DOI: 10.47978/TUS.2020.70.01.002
References:
[1] Угринов, П. Вертикални обработващи центри - едновретенни компоновки - класифика-ционен анализ. Сб. доклади от националната научно-техническа конференция с между-народно участие "Автоматизация на дискретното производство" АДП 2010, 150-155, 2010, ISSN 1310-3946.
[2] Попов, Г., Металорежещи машини, част I: Приложимост, устройство и управление, Книга втора, Технически университет - София, София, 2010, ISBN 978-954-438-766-2.
[3] Zhilevski, M., Increasing of the Opportunities for a Class of Machine Tools with Digital Program Control, International Scientific Journal "Machines. Technologies. Materials.", Vol. 13, Issue 12, pp. 538-541, 2019, ISSN 1313-0226.
[4] Михов, М., Системи за електрозадвижване, Технически университет - София, София, 2011, ISBN 978-954-438-922-2.
[5] Bratovanov, N., Robot Modeling, Motion Simulation and Off-line Programming Based on SolidWorks API. The Third IEEE International Conference on Robotic Computing, pp. 574-579, 2019.
https://doi.org/10.1109/IRC.2019.00117
[6] Жилевски, М., М. Михов, Методика за избор на подавателни задвижвания за фрезови машини, Годишник на Тeхнически университет - София, т. 64, № 1, 33-42, София, 2014, ISSN 1311-0829.
[7] Mikhov, M., M. Zhilevski, Methodology for Selection of Spindle Drives for Milling Machines, International Journal of Engineering and Computer Science, Vol. 3, Issue 5, pp. 5948-5953, 2014, ISSN 2319-7242.
[8] Zhilevski, M., M. Mikhov, Study of Electric Drives for Rotary Table of Milling Machines, Journal of Multidisciplinary Engineering Science and Technology, Vol. 2, Issue 40, pp. 607-611, 2015, ISSN 3159-0040.
[9] Zhilevski, M., M. Mikhov, Optimization of the Drive System Choice for a Class of Drilling Machines, European Journal of Electrical and Computer Engineering, Vol. 2, Issue 6, pp. 12-16, 2018, ISSN 2506-9853.
https://doi.org/10.24018/ejece.2018.2.6.42
[10] Жилевска, М., М. Дочев, А. Хинова, Основни направления при проектирането на мета-лорежещи машини с ЦПУ, International Scientific Conference: Engineering. Technologies. Education. Security, Vol. 1, Issue 1(7), pp. 40-42, 2019, ISSN 2535-0315.
[11] Жилевски, М., Управление на система за избор на инструменти при клас металорежещи машини, Годишник на Тeхнически университет - София, т. 69, №. 3, 9-16, София, 2019, ISSN 1311-0829.
[12] Жилевска, М., Управление на система за дозаторно мазане на металорежещи машини с ЦПУ, Научна конференция TechCo-Ловеч, Технически колеж - Ловеч, 139-144, 2019, ISSN 2535-079X.
[13] Жилевска, М., Модернизация на клас фрезови машини, Технически университет - Габ-рово, дисертация, 2017.
[14] M. Mikhov and B. Balev, Modeling and optimization of an electric drive system with dual-zone speed regulation, Proceedings of the ICEST, Nish, vol. 2, pp. 575-578, 2005.
[15] M. Mikhov and T. Georgiev, An approach to synthesis of a class of electric drives with dual-zone speed control, advances in electrical and computer engineering, vol. 10, No. 4, pp. 87-94, 2010, ISSN 1011-2855.
https://doi.org/10.4316/aece.2010.04014
[16] Sandvik coromant, Metalcutting technical guide: Turning, milling, drilling, boring, toolholding, sandvik, 2005.
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[18] SKF Group, Rolling bearings, Catalogue, 2018.
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A STUDY OF THE POTENTIALITY FOR DEVELOPMENT OF REAL TIME COMPUTER CONTROLLED ENERGY EFFICIENT ASYNCHRONOUS ELECTRICAL DRIVES
Kamen Hristov
Abstract
This paper presents the appliance of a software tool for computer control of AC-DC three-phase converter with bilateral energy exchange. It’s reduced to estimation of mathematical functions with small sampling time. Experimental results of the system for computer control of the three phase converter are being presented.
Keywords
computer control, three-phase AC-DC converter.
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DOI: 10.47978/TUS.2020.70.01.003
References:
[1] Йончев Е. "Безсензорно управляеми асинхронни електрозадвижвания" - дисертация, ТУ-София, 2010
[2] Уливеров И., Йончев Е., Йонков Т. "Управление на трифазни импулсни AC/DC преоб-разуватели с двустранен обмен на енергия със захранващата мрежа - част I", Годишник на ТУ-София, том 64, книга 1, 2014
[3] Ned Mohan, Tore M. Undeland, William P. Robbins, "Power Electronics: Converters, Applications, and Design", John Wiley & Sons, Inc, 3rd Ed., 2003
[4] K.-N. Areerak, S. V. Bozhko, G. M. Asher and D. W. P. Thomas, "DQ-Transformation Approach for Modelling and Stability Analysis of AC-DC Power System with Controlled PWM Rectifier and Constant Power Loads" International Power Electronics and Motion Control Conference, 2008
https://doi.org/10.1109/EPEPEMC.2008.4635567
[5] K. Wei and F. Xiao, "The Improvement of Current Feed-forward Control Strategy on Voltage Source PWM Rectifier" International Symposium on Computational Intelligence and Design, 2010.
https://doi.org/10.1109/ISCID.2010.42
[6] Peter Vas, "Sensorless Vector and Direct Torque Control" London, 1998
[7] Slobodan Ćuk, "Single-Stage, AC-DC Converter Topologies of 98% Efficient Single Phase and Three-Phase Rectifiers", Nuremberg, 2011
[8] F. C. Lin and S. M. Yang, "On-line tuning of an efficiency optimized vector controlled induction motor drive" Tam Kang Journal of Science and Engineering, vol. 6, no. 2, pp. 103-110, 2003.
[9] 99% Efficient AC/DC Converter Topologies, Power Electronics Europe 3/2011
[10] H. Sarén, "Analysis of the voltage source inverter with small dc-link capacitor," Ph.D. thesis, Lappeenranta Technical University, 2005.
https://doi.org/10.1109/ISIE.2005.1528952
SOLIDWORKS ADD-IN FOR MOTION SIMULATION, LAYOUT ANALYSIS AND COLLISION DETECTION OF SUBSTRATE HANDLING ROBOTS
Nikolay Bratovanov
Abstract
The paper is dedicated to the implementation of a tool for motion simulation, layout analysis and collision detection of substrate handling robots in the form of addin for SolidWorks. The main goal is developing a system that allows the direct usage of standard SolidWorks robot 3D models for simulation, offline programming, analysis and optimization of automated cells, applicable in the field of semiconductor device manufacturing. The resultant system allows the simultaneous execution of design, simulation and evaluation activities, based on a single software platform, thus increasing productivity, saving time and reducing costs. The proposed add-in concept contributes to achieving a much more integrated appearance and behavior of the tool, enhancing its functionality, and eliminating issues associated with reliability and security.
Keywords
motion simulation; layout analysis; collision detection; substrate handling robots; kinematic modeling; robot offline programming; SolidWorks add-in.
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DOI: 10.47978/TUS.2020.70.01.004
References:
[1] D. Liao, "Automation and Integration in Semiconductor Manufacturing," Semiconductor Technologies, Chapter 3, pp. 39-59, April 2010.
https://doi.org/10.5772/8569
[2] M. Hosek, J. T. Moura, "Advanced Control Techniques for Semiconductor and Flat Panel Display Substrate Handling Robots," Proceedings of the 17th World Congress, The International Federation of Automatic Control, pp. 6731-6738, July 2008.
https://doi.org/10.3182/20080706-5-KR-1001.01139
[3] N. Bratovanov, "Modeling, Simulation and Offline Programming of a Class of Robots, Applicable to Semiconductor Industry Automation," Ph.D. Thesis, Sofia, Bulgaria, 2019.
https://doi.org/10.1109/IRC.2019.00117
[4] N. Bratovanov, "Robot Modeling, Motion Simulation and Off-line Programming Based on SolidWorks API," Third IEEE International Conference on Robotic Computing (IRC), vol.1, pp. 574-579, 2019.
https://doi.org/10.1109/IRC.2019.00117
[5] "How to develop add-ins for SolidWorks automation via API," Extracted on July 6, 2020, URL: https://www.codestack.net/solidworks-api/getting-started/add-ins/
[6] S. Riyaz, "What's the Difference between SolidWorks Macros, Add-Ins and Executables?," Extracted on July 6, 2020, URL: https://www.javelin-tech.com/blog/2020/04/solidworks-mac-ros-add-ins-and-executables/
[7] K. Rice, "Macros vs Add-ins vs Stand-Alones," Extracted on July 6, 2020, URL: https://www.cadsharp.com/blog/macro-vs-add-in-vs-stand-alone/
[8] L. Malpass, "SolidWorks 2009 API. Advanced Product Development," AngelSix, 2008.
[9] Y. He, J. Chen, J. Gao, C. Cui, Z. Yang, X. Chen, Y. Chen, K. Zhang, H. Tang, "Research on Motion Simulation of Wafer Handling Robot Based on SCARA," 19th International Conference on Electronic Packaging Technology, pp. 734-739, August 8-11, 2018.
https://doi.org/10.1109/ICEPT.2018.8480663
[10] K. Mathia, "Robotics for Electronics Manufacturing Principles and Applications in Cleanroom Automation," Cambridge University Press, 2010.
https://doi.org/10.1017/CBO9780511712173
[11] G. Genov, D. Todorov, "Universally Tiltable Z-Axis Drive Arm," US Patent US5954840, June 13, 1996.
[12] G. Genov, Z. Sotirov, E. Bonev, "Robot Motion Compensation System," US Patent US6489741B1, August 1998.
[13] N. Bratovanov, Z. Sotirov, V. Zamanov, "Mobility and Accuracy Analysis of a Class of Over-constrained Parallel Mechanisms," Mechanics of Machines, ISSN 0861-9727, Year XXVI, issue 2, pp. 26-32, 2018.
Algorithm for PICKING, orienting and PLACING an object with a 6-axis robot and a 2D visual inspection camera
Boris Kostov, Vladimir Hristov
Abstract
With the development of visual inspection and artificial intelligence technologies, robots are increasingly required to replace humans in more complex operations that require the robot to "see" and "think." For this reason, the present development proposes, synthesizes and puts into operation an algorithm for taking a part with a specific marker from a 6-axis robot, presenting it to a 2D camera for visual inspection and its correct orientation based on information received from the camera and its placement. on another part with a pre-marked direction of the marker. An improvement of the orientation algorithm with an algorithm for compensation of the gripping error is proposed.
Keywords
industrial robot, 2D camera for visual inspection, orientation algorithm, marker placement.
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DOI: 10.47978/TUS.2020.70.01.005
References:
[1] Robot Hall of Fame - Unimate. // Carnegie Mellon University, 28 August 2008. http://www.robothalloffame.org/
[2] Mitsubishi Electric Europe B.V. FA - European Business Group, https://www.allied-automation.com/wp-content/uploads/2015/02/MITSUBISHI_RH-6FH-D12FH-D20FH-D-Series-Instruction-Manual-Robot-Arm-Setup-Maintenance.pdf [3] Hornyak, Timothy N. Loving the Machine: The rt and Science of Japanese Robots. New York, Kodansha International, 2006. ISBN 4-7700-3012-6.
[4] https://tr3a.mitsubishielectric.com/fa/tr/dl/9631/RV-2F-Q_Series_Standard_Specifications_bfp-a8902x.pdf
[5] https://ma3a.mitsubishielectric.com/fa/fr/dl/9632/RV-2F_Series_Robot_arm_setup_and_maintenance_bfp-a8904n.pdf
[6] https://ma3a.mitsubishielectric.com/fa/fr/dl/9722/CR750-Q_CR751-Q_series_and_CRnQ-700_Series_Extended_Function_Instruction_bfp-a8787f.pdf
[7] https://bg3a.mitsubishielectric.com/fa/bg/dl/9193/CR750_CR751_CR760_ Controller_Troubleshooting_bfp-a8871v.pdf
[8] https://www.cognex.com/en-bg/products/machine-vision/vision-sensors/in-sight-2000-vision-sensors
[9] https://www.cognex.com/products/machine-vision/vision-sensors/in-sight-2000-vision-sensors/applications
POSITION CONTROL OF ASYNCHRONOUS MOTOR BY VECTOR CONTROL
Vladimir Hristov, Todor Ionkov
Abstract
Asynchronous motors are the most widely used motors due to a number of advantages they have. The introduction of frequency inverters, such as the widely used speed controllers for induction motors in these systems, allowed the speed to be easily controlled. In the present work is presented the control of the position of an induction motor by vector control, which has the possibility of realization thanks to the built-in plc controller in the inverter. The error that was reached is within 1%, which makes it extremely useful as position management for a number of production systems.
Keywords
asynchronous motor, inverter, position, vector control.
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DOI: 10.47978/TUS.2020.70.01.006
References:
[1] Маринов Е., Теория на задвижването - II част, Варна, 2015.
[2] Михов М., Системи за управление на електрозадвижванията, ТУ-София, 2007
[3] Михов М., Управление на елeктромеханичните системи, ТУ-София, 2000
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[6] Христов Вл., Енергоефективни асинхронни електрозадвижвания, монография, ТУ-София, 2019.
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[8] https://www.vfds.com/manuals/mitsubishi/mitsubishi-a800-manual.pdf
[9] https://www.switchcraft.org/learning/2016/12/16/vector-control-for-dummies