RESEARCH OF THE POSITION CONTROL OF FLAT SHOE PARTS BY SURFACE PROPERTIES USING SUCTION CUPS

Abstract

Within the scope of the conducted scientific research, comprehensive physical and mathematical models have been developed to describe the dynamic interaction process of two identical, oppositely and asymmetrically positioned vacuum suction cups, which are pre-pressed against the working surfaces of a flat part at the initial moment of their symmetrical separation. The creation of this mathematical model enabled the analytical determination of the boundary gas-dynamic conditions under which the manipulation object remains guaranteed to be secured to one of the control suction cups after they are drawn apart in opposite directions. Numerical calculations and computer simulations performed using the derived analytical formulas made it possible to establish the rational design parameters of mechatronic vacuum gripping systems (specifically, the ratio of the inner to outer radii, as well as the areas of the throttle orifices) and the critical parameters of surface microgeometry and roughness of the contacting parts under which the part is retained on one of the sides. It is mathematically proven that due to the emergence of the holding force asymmetry, a stable feasibility arises for implementing a reliable adaptive position and orientation control process for flat light industry parts based on the physical and mechanical properties of their surfaces. The geometric parameters of the conditional micro-gaps for the entire spectrum of the investigated materials (including natural shoe bottom and upper leather, artificial fur, and porous rubber) have been experimentally determined, systematized, and structured into a generalized table. Based on these data, the differential suction force on the left and right flanges of the suction cups at the initial moment of their separation has been calculated. A detailed analysis of the functional dependency graphs—illustrating the differential useful suction force as a function of the inner suction cup radius, the linear size of its active sealing surface, and the integral roughness characteristics of the part surfaces—allowed for the clear identification of optimal parameter zones within which the automated orientation control technological process is highly efficient.