Goals and Problems of Improving of Electromechanical Control System of SHBM-150M Type Balanced Manipulator

Abstract

The movement of different objects in area is main part of most operations. Often that movements are performed by various types of balanced manipulators. The analysis of a Russian manipulator of ShBM-150M type was completed, the specifics design and applied sensorless vector control system of induction motor are considered. The disadvantageous of manipulator work due to the current control system are detected. The factors of low position precision of cargo at fixation on tags are determined. The elastic vibrations of the manipulator mechanical part, which adversely affect for its work quality, have been experimentally identified and researched. The design model of multi-mass mechanical system is presented. The improvement goals of the control system of ShBM-150M manipulator are defined for upgrade of technical parameters, ease of operation and functional capability.