RESEARCH DYNAMICS OF THE BOOM MANIPULATOR MOUNTED ON ELASTIC RESISTANCE
Journal Title: Гірничі, будівельні, дорожні та меліоративні машини - Year 2017, Vol 1, Issue 90
Abstract
Problem. In transitional modes, the robot manipulator causes fluctuations in its operating system which is the result of the unevenness of the drive, unbalanced mechanical system and elastic deformations of metal struc-tures. Purpose. To construct a mathematical model of the motion of an arrow of a manipulator in which its oscil-lations will be taken into account as a result of the elastic deformation of its support. Method / methodology. To establish a connection between the geometric and energy parameters of the manipulator and the parameters of elastic deformations, dynamic and mathematical models reflecting the dynamics of the movement of the arrow of the manipulator are constructed. The Lagrange equation of the second kind was used. In this study, the elastic deformation is presented as an additional angle of rotation of the base of the arrows and is determined by the potential spring compression energy. The theory of series and the method of a small parameter are used to solve the resulting divertial equations of motion. Originality / cost. As a result of the study, practical equations have been defined that allow us to describe the dynamics of the manipulator. Further development. The ob-tained equations in the future will allow to determine the relationship between the angle of rotation of the arrow of the manipulator and its fluctuations.
Authors and Affiliations
Dmitriy Mischuk
Keywords
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