Abstract
Such robots, when they consist of two separate sequentially connected robots, are of high precision. The first part – robot is not of a high precision adjusted to perform comparatively large displacements, while the second part – robot is meant to perform comparatively small displacements with very high precision if compared with the first part. Motors of all the motions are of vibrational type.
 First of all, vibrators of vibrational impact type with impacts of rigid bodies are investigated.
 Earlier it was shown that in some types of nonlinear systems between the hard and soft zones of excitation of vibrations optimal regimes according to the shape of motion exist. Here this fact is generalized for the vibrator with two symmetric impacting pairs of elements. According to the model of the system free vibrations of the system and their parameters are determined as well as forced harmonic vibrations and their specific features are determined. Recommendations for practical applications are provided.
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