АППРОКСИМАЦИОННЫЙ ДИНАМИЧЕСКИЙ СИНТЕЗ ПАРАЛЛЕЛЬНЫХ МАНИПУЛЯТОРОВ С УПРУГИМИ ШАРНИРАМИ
МАШИНОВЕДЕНИЕ
Keywords:
parallel manipulators, dynamic synthesis, approximation of functions, mean square approximation, Chebishev approximation
Abstract
Approximation problems of dynamic synthesis of parallel manipulators with elastic joints are considered where the family of approximating functions is formed through the solution of mixed systems of differential and algebraic motion equations of manipulators. It is shown that at the search of variable parameters in the polynomial form, the motion equations can be included in approximating functions significantly to simplifying and unifying the algorithms for the solution of various synthesis problems.
