Shmonin

This paper presents multi-section trunk robot-manipulator based on parallel kinematics “hexapod” mechanism. The paper purpose is working out of mathematical model and dynamics research of this manipulator. Means of program system MatLab/Simulink develop dynamic models of one-section and three-section manipulators. Research of transients and the maximum loadings in their drives is executed at various weight of tong and parameters of automatic control system.