Determining dynamic accuracy indicators of multicoordinate working machines in the form of rod structures for fuzzy inertia and dissipation parameters

Abstract

The paper considers a manipulator design and its dynamic model developed by the authors. On the basis of this dynamic model a mathematical model of the manipulator has been created, which enables its spatial motion investigation. The mathematical model takes into account the manipulator inertia tensor with fuzzy components. The developed computation procedure makes it possible to determine cross-angular displacements of the manipulator for impact and sinusoidal laws of torque variation. During random variations of the moment of external forces complex cross-angular displacements of the manipulator occur. The displacement trajectory includes an elliptical region that corresponds to the ellipse of the manipulator elastic system stiffness. The range of the manipulator upper end displacement trajectory is maximal in the direction close to that of minimal cross-angular stiffness of the manipulator elastic system.