ANALYSIS OF THE REDUCED NON-LINEAR OSCILLATING SYSTEM CORRESPONDING TO ONE-DEGREE OF FREEDOM MANIPULATORS ON MOVABLE AND ARTICULATED PLATFORMS

P.P. Belonozhko
PhD in Technical Sciences, Bauman Moscow State Technical University (BMSTU), Senior Lecturer, 5-1, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(915)279-77-18, This email address is being protected from spambots. You need JavaScript enabled to view it.

Abstract
It is shown that independent dynamic equation of relative motion of one-degree of freedom manipulator takes the same form in the cases of movable and articulated platform in the absence of external forces and moments. At fulfillment of certain conditions appearing as relations between mass and lag and geometrical characteristic of comparing analytical models, its equivalence occurs in terms of identical motions according to corresponding position data. The received equation can be interpreted as the equation of some reduced non-linear oscillating system.

Key words
One-degree of freedom manipulator, relative motion dynamic equation, movable platform, articulated platform, equivalence of analytical models, reduced system.

Bibliographic description 
Belonozhko, P. (2017). Analysis of the reduced non-linear oscillating system corresponding to one-degree of freedom manipulators on movable and articulated platforms. Robotics and Technical Cybernetics, 3(16), pp.44-52.

UDC identifier
621.865.8

References

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