Abstract
<p>The paper considers<strong> </strong>a manipulator design and its dynamic model developed by the authors. On the basis of this dynamic model a mathematical model of the manipulator has been created, which enables its spatial motion investigation. The mathematical model takes into account the manipulator inertia tensor with fuzzy components. The developed computation procedure makes it possible to determine cross-angular displacements of the manipulator for impact and sinusoidal laws of torque variation. During random variations of the moment of external forces, complex cross-angular displacements of the manipulator occur. The displacement trajectory includes an elliptical region that corresponds to the ellipse of the manipulator elastic system stiffness. The range of the manipulator upper-end displacement trajectory is maximal in the direction close to that of minimal cross-angular stiffness of the manipulator elastic system.</p>
Highlights
Advanced designs of working machines of the manipulator type are built on the basis of rod structures
The following parameters serve as the input parameters of the unit: kinematic momentum vector L calculated by formula (6), angular velocity vector and components of the inertia tensor (Іij)
To make the procedure of mathematical modeling of the manipulator spherical motion more reliable, spherical motion equation system was reduced to the form of the integral equation system with input parameters defined by the introduction of special feedbacks
Summary
Advanced designs of working machines of the manipulator type are built on the basis of rod structures. Basic parameters of these machines are speed of response and positioning accuracy. The problem consists in improving dynamic characteristics of working machines in the form of rod structures. This problem is connected with important scientific and practical tasks related to creation and application of working machines. Improvement of their dynamic performance is the basis for developing advanced designs of manipulators, construction and road machines. Research tasks include analysis of the working machine design solution, elaboration of the dynamic and mathematical models of the working machine dynamics, algorithmic and software provision to be used as a basis for determining dynamic accuracy indicators, the positioning accuracy
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