Investigation of the Dynamic Characteristics of the Manipulator of the Industrial Robot Technology

Abstract

The article describes the results of the study of dynamic characteristics of the manipulator of technological industrial robot. In addition, formulas for determining the forces of the control action on the links of the manipulator when performing specific technological methods of finishing the surfaces of the part are obtained. The influence of control forces on the functioning and technical capabilities of the manipulator of technological industrial robot is revealed. Standard layout schemes of manipulators of technological industrial robots were developed, and the analysis of their dynamic characteristics with the determination of the control action forces is carried out. This made it possible to develop and create a specific design of the robot for finishing turning and diamond smoothing of shaft surfaces in the structure of the automatic line.