TAILIEUCHUNG - Program motion of unloading manipulators

In the paper, the program motion of an unloading manipulator which is treated as a first integral of the considered system, is investigated. Currently, the popular way to solve such problem is the method of Lagrange multipliers only. In the paper, the authors use another approach, the Principle of Compatibility, in which the required program is treated as one of motion equations of the system. | Vietnam Journal of Science and Technology 56 5 2018 662-670 DOI 2525-2518 56 5 11811 cross. A checlcr Frarfrwl by PROGRAM MOTION OF UNLOADING MANIPULATORS Vu Duc Binh1 Do Dang Khoa2 Phan Dang Phong3 Do Sanh2 1Viet Tri University of Industry Tien Cat Ward Viet Tri City Phu Tho Province 2Hanoi University of Science and Technology Dai Co Viet Str. Ha Noi 3National Research Institute of Mechanical Engineering No. 4 Pham Van Dong Str. Ha Noi Email vubinhchc@ Received 15 March 2018 Accepted for publication 9 June 2018 Abstract. In the paper the program motion of an unloading manipulator which is treated as a first integral of the considered system is investigated. Currently the popular way to solve such problem is the method of Lagrange multipliers only. In the paper the authors use another approach the Principle of Compatibility in which the required program is treated as one of motion equations of the system. In the particular case the program is considered as one of first integrals of the system. For illustrating the proposed method the motion of an unloading manipulator of three degrees of freedom is considered. Keywords first integral transmission matrix method unloading manipulator the principle of compatibility. Classification numbers 1. INTRODUCTION Consider a manipulator whose grippers must move a load along a prescribed trajectory. Such problem has been studied in many works in 1-4 and still come into much attention by many researchers. Up to now the problem is solved by the Lagrange multipliers method only. However the method owns some inconveniences due to adding more variables Lagrange multipliers to equations of motion. It is important that by using this method the opportunity of controlling the manipulator will be taken away. In this paper the proposed method overcome such inconveniences by not using the Lagrange multipliers and therefore the motion of the considered system is described in terms of generalized coordinates

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