DETERMINATION OF THE DEPENDENCE OF GENERALIZED COORDINATES OF THE MECHANISM OF THE BASIC DEVICE WITH EXCESSIVE MOBILITY

Objectives. The article considers the problem of accuracy in determining the generalized coordinates of the lever mechanisms of the copy-type setting devices with the condition of excessive mobility. The purpose of the article is to determine the analytical dependence of the generalized coordinates of the mechanism of the copy-type setting device with excess mobility.

Method. The article describes the principle of forming generic coordinates of a copy-type setting device for controlling a three-link anthropomorphic manipulator with 7 degrees of mobility, which allows determining the position of any desired points of a copy-type device for controlling a three-link anthropomorphic manipulator with 7 degrees of mobility by solving the inverse kinematics problem.

Result. Matrices for finding the position of the nodes of the manipulator in space are constructed. Matrices of rotation transformations around generatrix axes and the corresponding formulas for finding the coordinates of the end node are given. The formulas for the transition to the local coordinate system of the corresponding links and the formation of the absolute values of the coordinates are described.

Conclusion. A complex relationship has been revealed that allows one to calculate the absolute values of the coordinates of the wrist joint at known angles between the links and the angles of rotation of the joints. The presented method of determining the coordinates of the system allows to simplify the calculated part and increase the accuracy of determining the end points, which entails a comprehensive increase in the performance of the system “master device - robot”.

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