Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order
| Autor: | A. H. Shamutdinov, I. Yu. Lesnyak |
|---|---|
| Jazyk: | English<br />Russian |
| Rok vydání: | 2022 |
| Předmět: | |
| Zdroj: | Омский научный вестник, Vol 3 (183), Pp 53-57 (2022) |
| Druh dokumentu: | article |
| ISSN: | 1813-8225 2541-7541 |
| DOI: | 10.25206/1813-8225-2022-183-53-57 |
| Popis: | The article discusses the main stages of compiling a dynamic model of manipulator oscillations, based on the method of mathematical modeling, the basis of which is the circuit design of the manipulator under study. A schematic solution of the manipulator has been compiled as a system in which an arbitrary vertical force Pz and moments Mx, My relative to the X and Y axes act on the working panel, elastic elements — springs, with known stiffness coefficients. On the basis of the equation of dynamics, in the form of Lagrange of the second order, a system of equations of oscillatory processes arising from external loads is compiled, natural frequencies of elastic oscillations of the manipulator are determined, and conclusions are drawn. |
| Databáze: | Directory of Open Access Journals |
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