iipp publishingJournal of Applied Engineering Science

THE STUDY OF THE POSITIONINg OF A FLEXIBLE MANIPULATOR


DOI: 10.5937/jaes16-16866
This is an open access article distributed under the CC BY-NC-ND 4.0 terms and conditions. 
Creative Commons License

Volume 16 article 556 pages: 480 - 479

Yuri Sidyganov*
Volga State University of Technology, Russian Federation

Victor Smelik
Saint-Petersburg State Agrarian University, Russian Federation

Konstantin Semenov 
Volga State University of Technology, Russian Federation

Denis Kostromin
Volga State University of Technology, Russian Federation

Andrey Medyakov
Volga State University of Technology, Russian Federation

The purpose of this paper is a theoretical study of the positioning accuracy of the end part of the developed flexible manipulator. The research was carried out on the basis of its computer and physical models. In the process of computer modelling with the use of Matlab Robotics Toolbox software environment and on the basis of the developed physical model, the principles of determining the position of the end part of a flexible manipulator at known tilt angles of links were set up, taking into account that the geometric dimensions of the models were identical. The results of modelling are presented in the graphs of the coordinate comparison. Based on the results of experiments, we can conclude that, in order to achieve high accuracy of positioning of the end part of a flexible manipulator, it is recommended to avoid the use of cardan joints between the links, or to choose cardan mechanisms with reduced free travel.

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