Mathematical Description and Research of Power Interactions in Elastic Mechanisms of a Multi-Link Manipulator

Abstract

The paper presents a mathematical model of an articulated-balancing manipulator of the ShBM-150M type, which is necessary for solving problems of analysis and synthesis of control devices. This model makes it possible to study the motion of the actuators and the moving object, taking into account the elastic force interactions when changing the parameters of the mechanical part and the mass, the movement of the load. It is shown that when obtaining a mathematical description, it is allowed not to take into account the influence of longitudinal defor-mations of the manipulator elements and to consider oscillatory processes in the mechanical part only taking into account the bending of the arm and arm of the manipulator. The ranges of changes in the values of the moments of inertia of the arm and shoulder of the manipulator when changing their position in space are given.