tailieunhanh - 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. | Vietnam Journal of Science and Technology 56 (5) (2018) 662-670 DOI: PROGRAM MOTION OF UNLOADING MANIPULATORS Vu Duc Binh1, *, Do Dang Khoa2, Phan Dang Phong3, Do Sanh2 1 Viet Tri University of Industry, Tien Cat Ward, Viet Tri City, Phu Tho Province 2 Hanoi University of Science and Technology, Dai Co Viet Str., Ha Noi 3 National 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 .
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