Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order
The article discusses the main stages of compiling a dynamic model of manipulator oscillations, based on the method of mathematical modeling, the basis of which is the circuit design of the manipulator under study. A schematic solution of the manipulator has been compiled as a system in which a...
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| Format: | Article |
| Language: | English |
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Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education
2022-06-01
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| Series: | Омский научный вестник |
| Subjects: | |
| Online Access: | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2022/%E2%84%96%203%20(183)%20(%D0%9E%D0%9D%D0%92)/53-57%20%D0%A8%D0%B0%D0%BC%D1%83%D1%82%D0%B4%D0%B8%D0%BD%D0%BE%D0%B2%20%D0%90.%20%D0%A5.,%20%D0%9B%D0%B5%D1%81%D0%BD%D1%8F%D0%BA%20%D0%98.%20%D0%AE..pdf |
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| _version_ | 1832569436129722368 |
|---|---|
| author | A. H. Shamutdinov I. Yu. Lesnyak |
| author_facet | A. H. Shamutdinov I. Yu. Lesnyak |
| author_sort | A. H. Shamutdinov |
| collection | DOAJ |
| description | The article discusses the main stages of compiling a
dynamic model of manipulator oscillations, based on the
method of mathematical modeling, the basis of which
is the circuit design of the manipulator under study. A
schematic solution of the manipulator has been compiled
as a system in which an arbitrary vertical force Pz and
moments Mx, My relative to the X and Y axes act on the
working panel, elastic elements — springs, with known
stiffness coefficients. On the basis of the equation of
dynamics, in the form of Lagrange of the second order,
a system of equations of oscillatory processes arising
from external loads is compiled, natural frequencies of
elastic oscillations of the manipulator are determined, and
conclusions are drawn. |
| format | Article |
| id | doaj-art-06b8c971cfdf47ccbb99b38eebfd4971 |
| institution | Kabale University |
| issn | 1813-8225 2541-7541 |
| language | English |
| publishDate | 2022-06-01 |
| publisher | Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education |
| record_format | Article |
| series | Омский научный вестник |
| spelling | doaj-art-06b8c971cfdf47ccbb99b38eebfd49712025-02-02T21:09:49ZengOmsk State Technical University, Federal State Autonoumos Educational Institution of Higher EducationОмский научный вестник1813-82252541-75412022-06-013 (183)535710.25206/1813-8225-2022-183-53-57Simulation of dynamics of oscillations of manipulator using Lagrange equations of second orderA. H. Shamutdinov0https://orcid.org/0000-0001-5896-7247I. Yu. Lesnyak1https://orcid.org/0000-0002-9481-5985Omsk Tank-Automotive Engineering InstituteOmsk State Technical UniversityThe article discusses the main stages of compiling a dynamic model of manipulator oscillations, based on the method of mathematical modeling, the basis of which is the circuit design of the manipulator under study. A schematic solution of the manipulator has been compiled as a system in which an arbitrary vertical force Pz and moments Mx, My relative to the X and Y axes act on the working panel, elastic elements — springs, with known stiffness coefficients. On the basis of the equation of dynamics, in the form of Lagrange of the second order, a system of equations of oscillatory processes arising from external loads is compiled, natural frequencies of elastic oscillations of the manipulator are determined, and conclusions are drawn.https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2022/%E2%84%96%203%20(183)%20(%D0%9E%D0%9D%D0%92)/53-57%20%D0%A8%D0%B0%D0%BC%D1%83%D1%82%D0%B4%D0%B8%D0%BD%D0%BE%D0%B2%20%D0%90.%20%D0%A5.,%20%D0%9B%D0%B5%D1%81%D0%BD%D1%8F%D0%BA%20%D0%98.%20%D0%AE..pdfmanipulatorworking panelinclined panelturntablestiffness coefficientlagrange equationsmatrix of inertia and stiffness |
| spellingShingle | A. H. Shamutdinov I. Yu. Lesnyak Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order Омский научный вестник manipulator working panel inclined panel turntable stiffness coefficient lagrange equations matrix of inertia and stiffness |
| title | Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order |
| title_full | Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order |
| title_fullStr | Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order |
| title_full_unstemmed | Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order |
| title_short | Simulation of dynamics of oscillations of manipulator using Lagrange equations of second order |
| title_sort | simulation of dynamics of oscillations of manipulator using lagrange equations of second order |
| topic | manipulator working panel inclined panel turntable stiffness coefficient lagrange equations matrix of inertia and stiffness |
| url | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2022/%E2%84%96%203%20(183)%20(%D0%9E%D0%9D%D0%92)/53-57%20%D0%A8%D0%B0%D0%BC%D1%83%D1%82%D0%B4%D0%B8%D0%BD%D0%BE%D0%B2%20%D0%90.%20%D0%A5.,%20%D0%9B%D0%B5%D1%81%D0%BD%D1%8F%D0%BA%20%D0%98.%20%D0%AE..pdf |
| work_keys_str_mv | AT ahshamutdinov simulationofdynamicsofoscillationsofmanipulatorusinglagrangeequationsofsecondorder AT iyulesnyak simulationofdynamicsofoscillationsofmanipulatorusinglagrangeequationsofsecondorder |