Elements of the theory of designing manipulators from composite materials for ground robotic complexes for special purposes

Abstract

Elements of the theory of designing manipulators from composite materials intended for use in ground-based robotic complexes for special purposes have been developed. Circuit solutions of manipulators and constructive execution of their main components and elements are proposed. Special hinges and remote drives for moving links of manipulators have been developed. To ensure the required static and dynamic characteristics, special mechatronic modules are implemented in the form of geared motors that are outside the manipulators. Control systems of geared motors are implemented on the basis of artificial neural networks using the results of mathematical modeling of statics and dynamics of manipulators by helical calculus methods. The developed manipulators significantly increase the functionality of ground robotic complexes when they work with dangerous objects.