Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

DESIGN FEATURES OF MANIPULATORS WITH THE CONTROLLED BEND

Bogdanov D.R. 1 Darintsev O.V. 1
1 Institute of Mechanics Ufa Branch of RAS
In article new classification of manipulators which are based on the attribute of links rigidity is offered. According to this attribute known manipulators may be divided into three classes: on the basis of rigid links, on the basis of flexible links and on the basis of controlled bend links. The analysis of the known constructive decisions used at development of manipulators with an operated bend is completed. The link of the manipulator realized on the basis of solid–state elements with a spherical surface is in more detail considered, the analysis of known designs, shortcomings of decisions and ways of their elimination is carried out. To create a control system of the similar manipulator is necessary to solve the following tasks: analysis and synthesis of kinematic and dynamic manipulator models, development of multichannel system of collecting and data processing, which operate in real time mode, execution experimental research to determine the manipulator dynamic properties, synthesis of this manipulator control system.