Investigation of Dynamics of the Manipulator with Self-Stopping Mechanism and Vibration Drive Based on Centrifugal Forces

摘要

Manipulators of this type can be used as constituent parts of robots of several dimensions. Vibration drive based on centrifugal forces is often used in elements of manipulators and robots. In this paper manipulator with vibration drive based on centrifugal forces and with the self-stopping mechanism is investigated. The model of the investigated manipulator is described and equations determining the motion of the manipulator are obtained. The conservative system is investigated. Then the full dynamic model is investigated. Also, the model with excitation of unlimited power is investigated. Numerical solution of the obtained equations is performed. First the results for the conservative system are described and investigated. Then the full dynamic model is investigated in detail. Also, the model with excitation of unlimited power is described and investigated. Various typical graphical relationships determining the dynamic behavior of the investigated manipulator with vibration drive based on centrifugal forces in steady state regimes of motion are presented. Experimental investigations are performed. The obtained results are used in the process of design of manipulators with vibration drive based on centrifugal forces.