THE KINEMATIC MODEL OF LINK MOBILITY FREQUENCY- CONTROLLED ELECTRIC DRIVE OF THE MANIPULATION ROBOT

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Abstract


The article considers the kinematics of the level of mobility of the manipulator with an electromechanical transducer, the mathematical model and the design scheme of the two-mass model of mobility managers of the industrial robot with two rotating inertia-communicable elements boundby the elastic element. Mathematical relationships allow the regulator to take into account the angular speed of rotation of the asynchronous engine on the current site of the braking, stopping accuracy actuator transients develop a model of a real object, represented in the form of a two-mass mathematical model. The equations of the two-mass mathematical model can be used for a simplified version of the simulation, when the two-mass model is reduced to an equivalent one-mass model for mathematical modeling of the dynamic braking mode variable frequency drive manipulation robot. The received equations are used to model the possibility of operation of a variable frequency-controlled induction motor without overheating the windings.

A Shraim

Peoples’ Friendship University of Russia

Cybernetics and Mechatronics Department

A A Vnukov

National Research University Higher School of Economics

Department of Applied Mathematics

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Copyright (c) 2015 Шраим А., Внуков А.А.

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