{"title":"Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order","authors":"A. H. Shamutdinov, I. Lesnyak","doi":"10.25206/1813-8225-2022-183-53-57","DOIUrl":null,"url":null,"abstract":"The article discusses the main stages of compiling a dynamic model of manipulator oscillations, based on the method of mathematical modeling, the basis of which is the circuit design of the manipulator under study. A schematic solution of the manipulator has been compiled as a system in which an arbitrary vertical force Pz and moments Mx, My relative to the X and Y axes act on the working panel, elastic elements — springs, with known stiffness coefficients. On the basis of the equation of dynamics, in the form of Lagrange of the second order, a system of equations of oscillatory processes arising from external loads is compiled, natural frequencies of elastic oscillations of the manipulator are determined, and conclusions are drawn.","PeriodicalId":107042,"journal":{"name":"Omsk Scientific Bulletin","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Omsk Scientific Bulletin","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.25206/1813-8225-2022-183-53-57","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The article discusses the main stages of compiling a dynamic model of manipulator oscillations, based on the method of mathematical modeling, the basis of which is the circuit design of the manipulator under study. A schematic solution of the manipulator has been compiled as a system in which an arbitrary vertical force Pz and moments Mx, My relative to the X and Y axes act on the working panel, elastic elements — springs, with known stiffness coefficients. On the basis of the equation of dynamics, in the form of Lagrange of the second order, a system of equations of oscillatory processes arising from external loads is compiled, natural frequencies of elastic oscillations of the manipulator are determined, and conclusions are drawn.