Experimental Research and Development of Methods for Improving Kinematic and Dynamic Robot Characteristics
The purpose of this investigation is the development of methods aimed at increasing reliability and rapid functioning of industrial robots. The particular case of research of a robot with hydraulic drive helped to solve the problem of improving its kinematic and dynamic characteristics due to: 1) rational choice of executing mechanism’s parameters and drive’s parameters; 2) braking regime control. The questions of working out and identification of a mathematical model describing control system, drive and executing mechanisms were considered.
KeywordsMovement Time Industrial Robot Discharge Chamber Hydraulic Cylinder Gain Coefficient
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