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Hypergraphs in modelling and analysis of complex mechanical systems. (English) Zbl 1057.70004

Summary: Due to exterior dynamical constraints, affecting the manipulator system, some deflections from the theoretical trajectory arise for the holder. They depend on the manipulator arm configuration. Analysis of the system vibrations occurring near the position of the static balance enables us to determine the size of the area, in which the manipulator holder can really be found. This information is critical for applying the proper control system and for eliminating the most undesirable conditions for the manipulator in action. When a manipulator is constructed, its dynamical characteristics are needed already at the design stage. Performing adequate simulations is necessary to change the geometrical or material parameters of the links to achieve the demanded level of accuracy of the manipulator positioning in certain working conditions.

MSC:

70E60 Robot dynamics and control of rigid bodies
70Q05 Control of mechanical systems
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