Abstract
Improvement of control systems for manipulators and robots was required implementation complex automation of production processes. It is necessary to have a reliable mathematical description of elastic mechanisms interacting during operation to solve problems of analysis and synthesis of control devices of force compensating manipulators. The work goal is the development of the mathematical description of elastic executive mechanisms of the ShBM-150M balanced manipulator. Studies have shown that low-frequency components of moved weight elastic vibrations are due to flexural deformation of a manipulator’s shoulder and arm. Inertia equivalent values of manipulator links are changed by 2.2 and 37 times during manipulator operation with a constant load value. Total flexural deformation of shoulder and arm deflection is 25 mm during changing mass per 100 kg. And parameters of the mathematical model can be changed by 11 times, which needs adaptive control use.
Published Version
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