SU383586A1 - MANIPULATOR - Google Patents

Description

one

The invention relates to the mechanics of manual di- ration, stationary and | equals.

Known | Manil torus cannon of its type, in which the control and control components are connected by hinges with a horizontal link on an iniaipoBon support. The torques are balanced by dynamic ion loads.

The proposed money pool of turks differs from those known in that it is equipped with a balancing device that forms a torus with parallel links with a torus. Parallel gr, am1M, on the side of which the pressure element rests, and; H1 is a compression spring.

FIG. 1 schematically LOKAZAI described mannnul torus, general view; in fig. 2 - diagram of the forces acting ir-and the deviation of the Beip-tic links from the vertical position; FIG. 3 shows but arrow A in FIG. 2; in fig. 4 shows the different positions of the system.

Manilul Rohr consists of control link 1 and link 2, connected to the horizontal link 3, which has a ball bearing 4, and hinges 5. Link 1, 2 and 3 are the carpus AND links of the system. Inside this unit there is a mechanism with flexible elements suitable for transmitting movements.

The balancing device connected to the body links of the manipulator forms a parallel-frame, the horizontal side 6 of which has a cantilever end. On

It is supported by a compression spring 7, in order to avoid longitudinal extension; 0: The first bend is numbered in two cyndrical glasses 8, connected by a telescopic joint. The stanchions end with ball studs abutting ball bearings.

One ball bearing is Uyurenla and a BBeipxy on the body of the box at point I and the other is located at the cantilever end of the horizontal side of the 6th parallelogram.

When the vertical links deviate by angle a, torques arise — tilting Mope moments around the centers Oi and

Ooh.

The sum of these lumens will be equal to: M ,,,, and 2Ра

where a is the deviation from the vertical position; R is the weight of the vertical

links.

In addition, a tipping (torque) moment occurs around the center O, which will be equal to:

M „p, P (a + /;).

-P (b-a} Pa + Pb-Pb + Pa 2Pa.

Thus, Mop and Mop moments, with

ra; ilekami will always be equal when

any position of the manipulator links. But

these moments are not missed, as well as equals around different hinges (centers of rotation). In order to balance the ngob-go system, m hooray, weighed, ayush, and memeite 1., Φ |, .5, srvrr- ;; When the point T is broken (in the gtp, yBeLr ™ gt, G, G, T tetrav "oyeshi1amy. Moore Mo Kf /, where k is the coefficient. However, if it is effective: The approach is only closer to the system, and the greater the ratio — and the smaller the spring stiffness, ε rs.i6lSe ° —– 4. 4 According to the results produced by the PRSGo-5T, –rH; friction Gkak% GG; 4aTaemu: ™ n G u, b.; 1 s --- in l., located on the other side of the man page that Ochechol is not shown on the figures) The subject of the scream ..s .. s; .r L..rer-.

Man I.

FIG. Z

FIG 3

H;