| Autor: |
Zabolotnyi, Kostiantyn, Panchenko, Olena, Zhupiev, Oleksandr |
| Zdroj: |
Advanced Engineering Forum; November 2017, Vol. 25 Issue: 1 p43-53, 11p |
| Abstrakt: |
Lagrange equations of the second kind are used to describe the dynamics of three-link manipulator lever tunnel stacker. Relative angles of rotation of manipulators units chosen as the generalized coordinates. The problem of the direct dynamics of the manipulator is solved. Expressions control torques for the main types of motion manipulators is given. With an accuracy of 11 %, using the motion simulation built in SOLIDWORKS Motion trajectory. Conclusions are drawn about selected control laws allowing to minimize the working time spent on the installation of the lining elements. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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