Open AccessMechanical systems of precise robots with vibrodrives, the vibrating mass of the exciting force of which performs impacts into deformable support and direction of the exciting force coincides with the line of relative motion of the system
Author(s) -
K. Ragulskis,
Bronislovas Spruogis,
Marijonas Bogdevičius,
Arvydas Matuliauskas,
Vygantas Mištinas,
L. Ragulskis
Publication year - 2021
Publication title -
mechanika
Language(s) - English
Resource type - Journals
eISSN - 2029-6983
pISSN - 1392-1207
DOI - 10.5755/j02.mech.27470
Subject(s) - dissipative system , nonlinear system , robot , control theory (sociology) , vibration , parallel manipulator , generator (circuit theory) , mechanism (biology) , stability (learning theory) , mechanical system , computer science , point (geometry) , manipulator (device) , control engineering , engineering , mechanical engineering , physics , mathematics , artificial intelligence , acoustics , control (management) , geometry , power (physics) , quantum mechanics , machine learning
Manipulator consisting from one sided self stopping mechanism and two masses which interact through an elastic – dissipative member is investigated. The drive of the manipulator is the generator of mechanical vibrations. With such elements the system is nonlinear. A separate case is investigated when static positions of equilibrium of both masses are located in one point. Because of this spectrums of eigenfrequencies are linear and infinite. All those facts mean that the operation of the manipulator is optimal.
Fast development of robots gives rise to the investigations of increasing intensity creating various types of robots especially in the area of high precision. Mechanical systems of robot must perform laws and trajectories of motion, positioning in space with highest possible precision as well as ensure dynamicity of highest possible stability. Those aims are achieved in the presented paper by creating a structure of the best design, based on vibroimpacts as well as by choosing corresponding nonlinear parameters of the system. The investigation is performed by analytical – numerical method. The obtained results enable to create mechanical systems for precise robots.