| Issue |
MATEC Web Conf.
Volume 226, 2018
XIV International Scientific-Technical Conference “Dynamic of Technical Systems” (DTS-2018)
|
|
|---|---|---|
| Article Number | 01020 | |
| Number of page(s) | 9 | |
| Section | 1 Fundamentals of mechanics, dynamics and tribology of machines | |
| DOI | https://doi.org/10.1051/matecconf/201822601020 | |
| Published online | 07 November 2018 | |
Dynamics and rigidity of a manipulator with three DOFs
Almaty University of Power Engineering and Telecommunication, Almaty 050013, Kazakhstan
* Corresponding author: kosbolov@mail.ru
The problem of dynamic elastic four-link initial kinematic chain (IKC) of the load-bearing manipulator, which is the basis for various modifications are considered. Using the Lagrange operator for this system, equations of motion in matrix form are obtained. To determine the potential energy of an elastic four-link IKC manipulator, we use the formula for the elastic potential energy of a rectilinear homogeneous rod of length l. The cross-section of the rod is considered annular or circular. Solving the system of linear equations of motion on a computer using the ADAMS program, the results of the movement of links and cargo were obtained. Kinematics and dynamics are presented for a generic 3 DOFs Initial Kinematic Chain; with anthropometric data and the dynamics equations, simulations were performed to understand its behavior.
© The Authors, published by EDP Sciences, 2018
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