The movement mode optimization of the manipulator on the elastic base according to the criterion of the mean square value of the rate of change of the drive torque

Abstract

It was established the presence of boom system oscillations in the process of changing the departure into previous studies of the optimization of the movement mode of the manipulator on an elastic base according to the criterion of the root mean square value of the driving moment of the drive. The purpose of the presented article is to solve the problem of reducing these fluctuations to a minimum. In this work, optimization was performed, where as a criterion for optimizing the motion mode of the boom system of the manipulator, it is proposed to use the root mean square value of the speed of change of the driving torque of the drive. Since this amount of power load is the main external factor of the occurrence of oscillations in the elements of the boom system of the manipulator. The driving torque of the drive was find from the dynamic equations of motion of the manipulator. The rate of change of the driving torque it was define as the time derivative of the driving torque expression by the drive. Such a criterion for optimizing the traffic mode is an integral functional. Its minimization it was carry out by methods of variational calculus. The results of the conducted research made it possible is significantly reduce the oscillations of the elements of the boom system of the manipulator on an elastic basis during the movement in comparison with the criterion of the root mean square moment. As result, to create a drive control system that allows to implement the obtained optimal mode of movement.