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DINAMIC OF MANIPULATOR WITH TAKING INTO ACCOUNT ELASTIC LINKS

Authors: N. Davitashvili, G. Tabatadze


Abstract:

: Is stated the dynamic analysis of planar manipulator with closed chains with taking into account elasticity of links. For carrying out the comparative analysis dynamic research is conducted with rigid links as well as with elastic ones. The method of definition of coefficient compliance coefficient of manipulator is given. The describing motions of motors, input links and concentrated masses are obtained. There are preconditions for study of oscillating process of gripper. As examples are given results of synthesis of manipulator, which gripper can move on straight line.

Keywords: dynamic analysis; manipulator; elastic links; differential equations.

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