THE RESEARCH OF THE DYNAMICS OF THE MANIPULATOR OF THE PARALLEL STRUCTURE WITH THE FLEXIBLE LINKS

The construction and kinematic computing of the manipulator of the parallel structure with flexible links are given in the papers [1, 2] ("Cable crane" [3]). It is reasonable to use the construction of the manipulator of similar type suggested below under the conditions with the rugged relief of the terrain and expanded service area. The problem of the research of manipulators with flexible links lies in the feedback effect of the lading dynamics on the links dynamics. The non-linearity of the kinematic structure of the manipulator expects the emergence of the feedback effects on the links in the dynamics which can exclude one or several links out of the structure (due to the flexibility of the construction). This makes difficult to use the purely analytical method of problem solving for simulation. The obtaining of the dependences of free and forced oscillations in modes of acceleration, steady motion and deacceleration under the exertion of the perturbation influence on the fixing point in the form of the force, the magnitude and direction of which is known should be considered as the main task of the research for the reviewing system.