Abstract
For the manipulator, the equations of motion of the system’s center of gravity and its trajectory equation are obtained. The most hazardous section of the reference contour is determined. For that section, the equation of the tipping line is derived, in terms of the basic manipulator dimensions. Manipulator dimensions suitable for practical use are identified.
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References
Tauber, B.A., Pod”emno-transportnye mashiny: Uchebnik dlya vuzov (Hoists and Conveyers: A University Textbook), Moscow: Ekologiya, 1991.
Smekhov, A.A. and Erofeev, N.I., Optimal’noe upravlenie pod’emno-transportnymi mashinami (Optimal Control of Hoists and Conveyers), Moscow: Mashinostroenie, 1975.
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Original Russian Text © A.A. Dobrachev, L.T. Raevskaya, A.V. Shvets, 2009, published in Vestnik Mashinostroeniya, 2009, No. 12, pp. 24–27.
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Dobrachev, A.A., Raevskaya, L.T. & Shvets, A.V. Static stability of manipulators. Russ. Engin. Res. 29, 1221–1224 (2009). https://doi.org/10.3103/S1068798X09120053
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DOI: https://doi.org/10.3103/S1068798X09120053