STRUCTURAL AND FUNCTIONAL PROTOTYPING OF THE EXECUTIVE PART OF THE ANGULAR MANIPULATOR ROBOT

In today's conditions of total digitization and informatization of all spheres of activity, more and more agro-industrial enterprises direct their resources to the development and implementation of modern technical and technological solutions, to modernize their own production capacities, with the prospect of ensuring competitiveness on domestic and foreign markets. In turn, such technological renewal of the agricultural sector of the economy is usually based on the use of high-tech systems of management, monitoring, control, management and automation of production processes, with the use of highly integrated SMART systems and the involvement of artificial intelligence technologies. Taking into account the significant volumes of cargo processing, agricultural enterprises, in particular in warehouses, a promising direction and reserve for ensuring high labor productivity is the use of robotic manipulators, and research is devoted to increasing their functionality and maneuverability, including through the use of intelligent control systems and optimization of the structure of executive mechanisms. relevant and will have practical value. The article substantiates the conditions for ensuring functional and structural similarity and proposes criterion equations of similarity for a large-scale transition from a natural sample of an industrial manipulator to a physical model-prototype. On the basis of the obtained criteria and using the scaling factors, the design parameters of the prototype were determined, a computer 3D model was developed, and based on the analysis of the trajectories, corrections were made to the linear dimensions of the manipulator and the ranges of angular movements of the links, as well as the compliance of the created prototype with the conditions of physical modeling was checked, according to the criteria of similarity. Also, the article presents the process of manufacturing an angular manipulator by using additive technologies of layer-by-layer build-up of parts on a 3D printer.