Open AccessOptimal translational motion of the elastic telescopic robot arm
Author(s) -
Alexander Bokhonsky,
Vasiliy Golovin,
Mikhail Maistrishin
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/709/2/022005
Subject(s) - robotic arm , superposition principle , translational motion , motion (physics) , robot , human arm , control theory (sociology) , moment (physics) , degrees of freedom (physics and chemistry) , movement (music) , position (finance) , computer science , tone (literature) , physics , mathematics , simulation , classical mechanics , artificial intelligence , mathematical analysis , acoustics , control (management) , finance , quantum mechanics , economics , art , literature
Paper aims to implement optimal translational movement (to the final state of absolute quiescence) in the shortest possible time, which is found from the moment ratios in relative motion. An example of an elastic manipulator arm as a system with two degrees of freedom have been described: while frequency of the first tone and total arm length are given, the links lengths and the second tone frequency of the oscillations are determined. The following related tasks are solved: designing an elastic robot arm with given properties; optimal movement analysis of the arm as a superposition of the translational and relative motions.