Substantiation of Parameters for the Tunnel Erector with Two Manipulators

Kostiantyn Zabolotnyi; Olena Panchenko; Oleksandr Zhupiev

doi:10.4028/www.scientific.net/AEF.25.43

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HomeAdvanced Engineering ForumAdvanced Engineering Forum Vol. 25Substantiation of Parameters for the Tunnel...

Substantiation of Parameters for the Tunnel Erector with Two Manipulators

Abstract:

Lagrange equations of the second kind are used to describe the dynamics of three-link manipulator lever tunnel stacker. Relative angles of rotation of manipulators units chosen as the generalized coordinates. The problem of the direct dynamics of the manipulator is solved. Expressions control torques for the main types of motion manipulators is given. With an accuracy of 11 %, using the motion simulation built in SOLIDWORKS Motion trajectory. Conclusions are drawn about selected control laws allowing to minimize the working time spent on the installation of the lining elements.

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Periodical:

Advanced Engineering Forum (Volume 25)

Pages:

43-53

DOI:

https://doi.org/10.4028/www.scientific.net/AEF.25.43

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Online since:

November 2017

Authors:

Kostiantyn Zabolotnyi*, Olena Panchenko, Oleksandr Zhupiev

Keywords:

Direct Dynamics Problem, Lagrange Equations, Lining, Manipulators, Tunnel Erector

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