| Title |
Investigation of dynamics of the manipulator with self-stopping mechanism and vibration drive based on centrifugal forces / |
| Authors |
Ragulskis, Kazimieras ; Bubulis, Algimantas ; Jūrėnas, Vytautas ; Vėžys, Joris ; Paškevičius, Petras ; Ragulskis, Liutauras Mykolas |
| DOI |
10.5755/j02.mech.36275 |
| Full Text |
|
| Is Part of |
Mechanika.. Kaunas : KTU. 2024, vol. 30, no. 3, p. 286-293.. ISSN 1392-1207. eISSN 2029-6983 |
| Keywords [eng] |
centrifugal forces ; manipulators ; nonlinear behavior ; robots ; self-stopping mechanism ; vibration drive |
| Abstract [eng] |
Manipulators of this type can be used as constitu-ent parts of robots of several dimensions. Vibration drive based on centrifugal forces is often used in elements of ma-nipulators and robots. In this paper manipulator with vibra-tion drive based on centrifugal forces and with the self-stop-ping mechanism is investigated. The model of the investi-gated manipulator is described and equations determining the motion of the manipulator are obtained. The conserva-tive system is investigated. Then the full dynamic model is investigated. Also, the model with excitation of unlimited power is investigated. Numerical solution of the obtained equations is performed. First the results for the conservative system are described and investigated. Then the full dy-namic model is investigated in detail. Also, the model with excitation of unlimited power is described and investigated. Various typical graphical relationships determining the dy-namic behavior of the investigated manipulator with vibra-tion drive based on centrifugal forces in steady state regimes of motion are presented. Experimental investigations are performed. The obtained results are used in the process of design of manipulators with vibration drive based on cen-trifugal forces. |
| Published |
Kaunas : KTU |
| Type |
Journal article |
| Language |
English |
| Publication date |
2024 |
| CC license |
|
