ЧИСЛЕННОЕ МОДЕЛИРОВАНИЕ ЗАДАЧИ ДИНАМИЧЕСКОГО СИНТЕЗА ПАРАЛЛЕЛЬНОГО МИКРОМАНИПУЛЯТОРА С УПРУГИМИ ШАРНИРАМИ

МАШИНОВЕДЕНИЕ

Abstract

The problem of dynamic synthesis of a parallel micromanipulator with elastic joints is solved, an algorithm for solving the mixed systems of differential and algebraic equations of the micromanipulator movement is implemented. A dynamic model of a parallel micromanipulator with elastic joints is formed on whose basis the problem of its dynamic synthesis is solved. The method and algorithm applied have allowed to significantly decrease the number of the sought parameters and the required time for the computer realization of the problem of the micromanipulator optimal design. The calculation results by the developed
algorithm for the synthesis of a three-mobile micromanipulator with elastic joints are introduced.