Research of the manipulator dynamics installed on an elastic basis

摘要

In many scientific articles on construction topics, the problem of building density has recently been considered [1, 2]. When working construction equipment in the construction of such objects there is a problem of safety of work. For example, in work [3, 4] the possibility of an excavator with an offset digging axis is presented. But, such research for construc-tion cranes and construction robots is not enough. The elasticity of metal structures of real mechanical systems manipulators greatly affects their work [5]. When lifting cargo manipulator in its metal construction generated vibrations due to the complex dynamics of the machine. Fluctuations cargo the cause errors in its position and reduce life of the machine. For eliminate fluctuation make use of the dampers and devices regulate speed of the working body of the manipulator [5, 6]. It is necessary to develop the dynamic and mathematical models of the boom of the manipulator, which is mounted on an elastic base. The mathematical model must take into ac-count the parameters of the rigidity of the support arm of the manipulator, the mass of the jet and the load, as well as its geometrical parame-ters. The basic method of compiling the dynamic equations of motion, the Lagrange equations are used. The boundary conditions for the so-lution of the obtained differential equations for the angle of rotation the deformed prop were the boundary values of the displacements and the angle of rotation of the cantilever beam within the boundary of the strength of its cross-section.