Abstract
Based on the analysis of an open shell, the design of a damping elastic kinematic joint of a lever mechanism used in controlled dampers, precision robots and manipulators is considered. The control problem is being solved according to the maximum principle using the connections of the obtained controls with the equations of the gas flow rate entering the spring cavity. A relationship is established between the kinematics of the spring, the shape of its cross section and filling with gas. The problem of optimal control of this connection in terms of speed is solved. Keywords: manipulation robot, pneumatic drive, spring opening, Euler—Lagrange equations, Lagrange multipliers, speed, gas flow, throttling. vichizhikov@gmail.com, kurnasov@mirea.ru
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