Reguliarities in the occurrence and propagation of wave processes in the kinematic chains of a mobile robotic machine tool

Abstract

The paper considers regularities in the occurrence and propagation of wave processes in the kinematic chains of a mobile robotic machine tool. Mobile robotic machine tools are designed for handling dangerous objects under field conditions. Such device comprises a movable actuating member with a tool that moves in space by means of six bars of a variable length. A spatial rod structure is prone to the occurance of vibration processes, which is an undesirable phenomenon. For description of vibration processes a dynamic model in the form of separate masses with elastic-dissipative bonds has been developed. Longitudinal and transverse waves, caused by longitudinal, torsional and bending vibrations, have been described. It is pointed out that propagation of the waves in a rod system is accompanied by their breaking and interference. To reduce the intensity of wave phenomena, installation of special damping connections in the rod system is recommended as well as the use of dampers in the places, where crests of rod vibrations are observed.