SYNCHRONIZATION OF MOVEMENT OF MANIPULATOR MECHANISMS

Abstract

One of the requirements of designing manipulators is to carry out any technological operations with high productivity and in optimal conditions. For this purpose the characteristic parameters included in the technological cycles and productivity expressions are compared and grouped as increasing or decreasing productivity. These parameters are investigated and ways to increase productivity are sought. In this case, the grouping for manipulators is the enlargement of the working volume and the reduction of the process cycle time intervals. The enlargement is actually evaluated as an increase in bucket (body) volume and increase in manipulator lifting capacity and is considered undesirable. Other parameters-decreasing time intervals are associated with increasing the operating speed of the manipulator and making its dynamics more complex as a result. Thus, increasing the operating speed of a manipulator is also not desirable to increase its productivity. As for the issues of reducing the time intervals of the technological cycle, this issue can be resolved during the design of the manipulator by synchronizing the mechanisms and mixing their movement in phase. As a result, the duration of the technological cycle is shortened and the productivity of the manipulator is increased. Here it is necessary to perform the mixing without touching the movements of individual working elements. The article concludes with the drawing up and shifting of the phase of movement of the manipulator of the PVPV type