Abstract
Manipulator consisting from one sided self stopping mechanism and two masses which interact through an elastic – dissipative member is investigated. The drive of the manipulator is the generator of mechanical vibrations. With such elements the system is nonlinear. A separate case is investigated when static positions of equilibrium of both masses are located in one point. Because of this spectrums of eigenfrequencies are linear and infinite. All those facts mean that the operation of the manipulator is optimal.
 Fast development of robots gives rise to the investigations of increasing intensity creating various types of robots especially in the area of high precision. Mechanical systems of robot must perform laws and trajectories of motion, positioning in space with highest possible precision as well as ensure dynamicity of highest possible stability. Those aims are achieved in the presented paper by creating a structure of the best design, based on vibroimpacts as well as by choosing corresponding nonlinear parameters of the system. The investigation is performed by analytical – numerical method. The obtained results enable to create mechanical systems for precise robots.
Highlights
New mechanical systems of robots are created as well as known systems are developed which have various constitutive parts and drives
Investigations in the field of precise manipulators and robots with vibromotors as autonomous and non autonomous systems are developed with high intensity in [2 – 7] and elsewhere
In the field of precise manipulators and robots the use of vibration drives operating on the basis of various principles found wide application
Summary
New mechanical systems of robots are created as well as known systems are developed which have various constitutive parts and drives. Vibromotors of new type for the performance of stationary and cyclic dynamic regimes based on piezoeffect, pulse type motions of pneumatic systems and fluids, variable and constant magnets, electrostatics and other principles have been created. In the field of precise manipulators and robots the use of vibration drives operating on the basis of various principles found wide application. Robots created on the basis of pneumatic autovibrating vibratory drives have been applied in pipelines [2], where the asynchronous operation of those vibrators showed its effects. Because of the results of those investigations manipulator with vibro drive having advanced characteristics was created. The aim of the research is to determine most suitable regimes of operation of the robot, which are applicable in practice
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