Abstract
This study was proposed a refined mathematical model of the boom system of the manipulator, which makes it possible to study the dynamics of the manipulator robot, taking into account the compliance of the elastic base due to its deformation. The mathematical model based on the Lagrange equations of the second kind for a mechanical system with two degrees of freedom, and the angle of rotation of the manipulator boom relative to the horizontal surface and the swing angle of the support frame was took as generalized coordinates. The purpose of this study was to analyze the behavior of the boom system of the manipulator on the effect of the drive torque from the hydraulic drive system and to obtain the kinematic characteristics of the generalized coordinates and amplitudes of oscillations of the compliant support link.
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