/pdf/precision-analysis-of-earthworks-made-by-power-shovel-1z0j0lmqzd.pdf

Precision Analysis of Earthworks Made by Power Shovel Actuator

The article discusses a robotic system based on a 6-DOF relative manipulation device consisting of two modules. The lower module is based on a parallel planar 3-RPR mechanism, and the upper module is based on a parallel 3-RPS tripod module. Such robotic system can be used in mechanical engineering as a robot-machine for the mechanical processing of parts. The mathematical model was built in the MATLAB package to analyze the prospects for using a 3-RPS robot. An alternative description of the rotation of the robot’s mobile platform is proposed to organize a simpler control of it within the framework of a system of interacting robots. A technique has been developed to compensate for the movable tripod platform’s horizontal displacements and take into account the geometric dimensions of the replaceable tool and the relative positions of the 6-DOF system modules during the control process. The results of the mathematical simulation are presented.

Motion Control of 6-DOF Relative Manipulation Device

The article deals with actual questions about the dynamic model construction for combined relative manipulation mechanism with five degrees of freedom. Since the relationship between the generalized coordinates and the output link position of the combined relative manipulation mechanism is often implicit, one of the important issues is the choice of these generalized coordinates. The system of motion equations for the considered mechanism was obtained, and the inverse dynamics problem was solved.

Inverse Dynamics Problem Solution for the Combined Relative Manipulation Mechanism with Five Degrees of Freedom

Abstract One of the mechanisms of joint relative manipulation with five degrees of freedom is considered. An approach to solving the direct positional problem is described. A simplified 3D model was created to verify the correctness of the solution. The results of a comparison of calculated and experimental data are presented.

/pdf/decision-of-the-direct-position-problem-of-the-joint-28j18iuutj.pdf

Decision of the Direct Position Problem of the Joint Relative Manipulation Mechanism with Five Degrees of Freedom

The article deals with topical issues of solving the problem of analyzing the special provisions of the mechanisms of joint-relative manipulation. The analysis of existing methods and approaches for determining the special provisions of the mechanisms is carried out. The approach based on the search for bifurcation conditions is considered in detail. Within the framework of using this approach, special positions of the planar six-branch mechanism are found through the compilation of coupling equations. The working area of the flat six-shaft mechanism is constructed taking into account the permissible and special provisions. The method of finding the working space of the mechanism of joint-relative manipulation using the iterative method is shown. The working area of the mechanism of joint-relative manipulation is constructed, taking into account the permissible and special provisions. The working area of the mechanisms of joint-relative manipulation is investigated, taking into account special positions, and an approach to solving the problem of forming a program trajectory in the space of generalized coordinates is proposed, taking into account the presence of special positions of the mechanism.

Determination of Special Positions for Solving the Problem of Joint-Relative Manipulation Mechanisms Kinematic Control

Synthesis problems of handling mechanisms of simultaneous relative manipulation have been considered. The direct positional problem for the parallel structure mechanism of simultaneous relative manipulation has been solved. The operating space of the mechanism has been defined.

I. V. Sharapov

Papers

Construction of a working area for the manipulation mechanism of simultaneous relative manipulation