Procedure of dynamic equation obtaining for relative motion of the jointed torque link, based on separation of generalized coordinates into cyclic and positional, is reviewed. Motion in the absence of external forces and moments and in relation to nonrotating coordinate system with the origin in the system's mass center is described. In this case generalized coordinate of the platform's absolute angular position will be cyclic, and generalized coordinate of relative angular position of platform and the weight will be positional. With that first integral expressing the law of conservation of angular momentum in the absence of external moments can be obtained as cyclic and independent equation of relative motion dynamic may be written in the Rauth equation form. Obtained equation allows graphic physical interpretation.
Robotic space module, manipulator, movable platform, independent equation of relative motion dynamics, Rauth equation, nonlinear oscillating system.
Year 2016 Issue number 4 Consecutive issue number 13 Pages 52-58
UDC identifier: 629.78:621.865.8