INVESTIGATION OF DYNAMICS OF THE MANIPULATOR WITH ROTATIONAL EXCITATION

Kazimieras  RAGULSKIS; Arvydas  PAULIUKAS; Petras  PAŠKEVIČIUS; Bronislovas  SPRUOGIS; Arvydas  MATULIAUSKAS; Vygantas  MIŠTINAS; Liutauras  RAGULSKIS

doi:10.36910/automash.v1i22.1343

Kazimieras RAGULSKIS Member of Academies of Sciences of the USSR (later of the Russian Academy of Sciences) and Lithuania, Professor, Habilitated Doctor, Kaunas University of Technology
Arvydas PAULIUKAS Doctor, Vytautas Magnus University, Akademija, Kaunas District, Lithuania
Petras PAŠKEVIČIUS Doctor, Company “Vaivora”, Kaunas, Lithuania
Bronislovas SPRUOGIS Professor, Habilitated Doctor, Vilnius Gediminas Technical University
Arvydas MATULIAUSKAS Master, Vilnius Gediminas Technical University, Vilnius, Lithuania
Vygantas MIŠTINAS Master, Vilnius Gediminas Technical University, Vilnius, Lithuania
Liutauras RAGULSKIS Doctor, Vytautas Magnus University, Kaunas, Lithuania

DOI: https://doi.org/10.36910/automash.v1i22.1343

Abstract

Dynamics of the manipulator with rotational excitation is investigated in this paper.

First the model with excitation of limited power is described in detail. The main parts of the model of the system are the mass of the disbalance of the rotating rotor, the impacting mass of the vibrator and the immovable straight linear supports, which ensure the direction of the moving mass. The system has three degrees of freedom, and its dynamics is described by the three differential equations of the second order.

Then investigation of dynamics for typical parameters of the system is performed. Displacements, velocities, angle, angular velocity, difference of displacements and difference of velocities as functions of time are investigated.

Also, the manipulator with excitation of unlimited power is described. The system has two degrees of freedom, and its dynamics is described by the two differential equations of the second order.

Then investigation of dynamics of the manipulator with excitation of unlimited power for typical parameters of the system is performed. Transient as well as steady state motions for typical parameters of the system are presented. Displacements, velocities, difference of displacements and difference of velocities as functions of time are investigated.

Graphical relationships for different values of stiffness are presented. They enable us to understand the influence of the value of stiffness on the dynamic behavior of the manipulator.

Results are applied in the process of design of manipulators with rotational excitation.

KEYWORDS: ROTATIONAL EXCITATION, MANIPULATORS, ROBOTS, GRAPHICAL RELATIONSHIPS, NONLINEAR BEHAVIOR.