Adaptive Drive of Manipulator Module

Abstract

The production operation of the module includes stages: acceleration, breaking and the installed motion. Optimum on power and sizes the drive of the module of the manipulator should overcome the force matching a variable load at different stages of operation at constant power of an engine. For this purpose it is offered to use the adaptive mechanical drive containing the electric motor and an adaptive gear variator with constant engagement of toothed wheels. The adaptive gear variator provides the variable transfer ratio only owing to the mechanical properties lost-free energy on its transformation and without control means. The gear variator with constant engagement of toothed wheels is a planetary gear with two degrees of freedom, having the superimposed differential constraint under action of forces.