Model of Motion of the Combined Manipulator

Abstract

The combined manipulators composed of telescopic booms and rotary supports with movable in longitudinal vertical plane columns which provide an increased outreach of operative parts and a bigger service space are widely used in different branches of industry (engineering, transport). The article considers development of mathematical model of kinematic links motion of the combined manipulator with a column movable in longitudinal vertical plane. The mode of load lifting in a synchronous movement of boom and column from the position of picking the load up to the transport position was analyzed.