Volkomorov

pp. 357-370

This is the second paper in the series of four works dedicated to design of parallel mechanisms for orientation of the space observatory “Millimetron”. In this article the authors stated a problem of “Millimetron” observatory's antenna orientation with the use of a parallel hexapod-based multi-sectional manipulator. The manipulator was designed in Solid Works software package. The Manipulator's 3D-model created in NX5 with the use of “Kinematic Simulation of Mechanisms” software package is introduced in this work. Software for solving direct and inverse kinematic problems was designed. A model of the guided five-section manipulator developed in MatLab Simulink software package is also described.

Tasks of optimizing form and sections dimensions of multisectional «trunk» robot-manipulator are considered. Approach based on manipulator representation by a cantilever bar and three following criteria of optimality is used for solving the first task: criterion of uniform flexural resistance using beam of uniform strength theory; criterion of uniform specific power rating; criterion of uniform energy density. Criteria listed above are used for optimization of manipulator form under different types of load: static load, exerted by external forces and torques; static load exerted by beam’s weight; dynamic load caused by accelerated motion of beam’s components; dynamic load caused by head resistance of environment through which the beam is moving. Manipulator is also represented by a cantilever bar for solving the second task. Approach based on criterion of uniform section stiffness is used.

One-section and two-section manipulators based on parallel kinematics “hexapod” mechanism are considered. Linear and angular dimensions optimization problem is set. Minimal guaranteed suppleness of construction under applied force is used as criterion of optimality. The research is carried out by means of MatLab software system. MatLab program implementing SQP optimization method is used for solving the optimization problem. Mathematical models of manipulators are obtained by means of MatLab/Simulink system.

This paper presents the problem of goal configuration planning of a trunk robot-manipulator. We discus target setting, methods and C-  program for this problem. Also we present some results of goal configuration planning