Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order
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 a...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education
2022-06-01
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| Series: | Омский научный вестник |
| Subjects: | |
| Online Access: | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2022/%E2%84%96%203%20(183)%20(%D0%9E%D0%9D%D0%92)/53-57%20%D0%A8%D0%B0%D0%BC%D1%83%D1%82%D0%B4%D0%B8%D0%BD%D0%BE%D0%B2%20%D0%90.%20%D0%A5.,%20%D0%9B%D0%B5%D1%81%D0%BD%D1%8F%D0%BA%20%D0%98.%20%D0%AE..pdf |
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| Summary: | 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. |
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| ISSN: | 1813-8225 2541-7541 |