Investigation of dynamics of manipulators and robots, the motion of which is excited by an external variable force through mutual impacts of their separate elements

Abstract

Manipulators and robots find a number of applications in agricultural engineering. They are used in pipe robots for transportation of materials. Also pipe robots are applied for cleaning of internal surfaces of the pipes. Impact interactions take place in the process of dynamic behavior in the elements of manipulators and robots. Their precise investigation is an important engineering problem. A model having one degree of freedom with forced excitation and impacts is investigated. The values of coefficient of restitution and coefficient of viscous damping have basic effect to the dynamic behavior of such systems. In this paper the investigations of the dependence of regions with single valued regimes of motion from the coefficient of restitution and from the coefficient of viscous damping are performed. This paper is devoted to numerical experiment: the model of the system is presented in detail as well as the parameters for which calculations were performed are indicated. The presented graphical relationships enable to choose the regimes suitable for operation of elements of manipulators and robots. They are applicable in the process of design of pipe robots.