Investigation of Dynamical Peculiarities of Manipulator on the Basis of close Circuit Mechanism

Аmandyk Tuleshov, Кassymbek Ozhikenov, K. Assylbek Ozhiken

2013

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DOI 10.4028/www.scientific.net/amr.705.386

Data confidence 85 high

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Abstract

Manipulator dynamics is investigated on the basis of closed kinematic chain, in comparison to manipulator on the base of non-closed kinematic chain. Thereby the dynamic peculiarities of their driving actuators are considered. The solution of the task of program motion development was received as a solution of inverse task of kinematics. The modeling issues of investigated manipulators dynamics are resolved and the results were attained. The attained results demonstrate that the application of flat closed mechanisms as the operating device of manipulation robots is promising from the perspective of enhancement of their dynamical peculiarities.