STATIC ANALYSIS OF THE TWO-LINKS MANIPULATOR WITH NONCOLLINEAR JOINTS

 cover 4 17 2017

STATIC ANALYSIS OF THE TWO-LINKS MANIPULATOR WITH NONCOLLINEAR JOINTS

A.S. Smirnov
Peter the Great Saint-Petersburg Polytechnical University (SPbPU), Assistant , 29, Politekhnicheskaya ul., Saint-Petersburg, 195251, Russia, tel.: +7(812)552-77-78, This email address is being protected from spambots. You need JavaScript enabled to view it.

B.A. Smolnikov
PhD in Physics and Mathematics, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Leading Research Scientist, 21, Tikhoretsky pr., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-77-78, This email address is being protected from spambots. You need JavaScript enabled to view it.


Received 28 September 2017.

Abstract
The design scheme of a double spatial pendulum representing the main structural element of manipulators, pedipulators and other multi-link robotic devices is considered. The technique of geometric analysis of such two-link manipulator with non-collinear revolute joints through which the positions of its static equilibrium are located and their stability is determined, is described. The conclusions are drawn about the practical use of these equilibrium positions in the problems of statics and dynamics of revolute-joint manipulators.

Key words
Two-link manipulator, non-collinear axes, orthogonal pendulum, rotation matrix, Hessian, equilibrium, stability.

Bibliographic description 
Smirnov, A. and Smolnikov, B. (2017). Static analysis of the two-links manipulator with noncollinear joints. Robotics and Technical Cybernetics, 4(17), pp.47-51.

UDC identifier
531.25

References

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