Patent RU-2514925-C2 (RU)
Inventor: L VOVICH JAKOV EVSEEVICH
IPC: B25J9/08
Filed: 2012-04-19
Granted: 2014-05-10
Abstract: FIELD: machine building. 
     SUBSTANCE: invention relates to machine building, particularly, to robotics. Proposed robot consists of at least two articulated modules. Articulation of every new module with preassembled one (ones) is performed in selected direction by coupling of its first interface site with one of free structural elements in extreme position in one or other line. Alternative variables for algorithms of control over mechanotronic modular structure for description of periodic law parameters are selected proceeding from the following ratio: Angle=A+Bsin(ωt+φ), where A is the magnitude of generalised coordinate relative to which periodical motion occurs; B is the amplitude of periodic oscillation of generalised coordinate. Total magnitude |A|+|B| may not exceed the maximum tolerable deviation of the module generalised coordinate, while φ is the displacement. In compliance with one version for optimised structural analysis, selected are alternative variables              x   1   *     ,     x     41   n     *       ¯           
 to ensure maximum value of function        f   =           [   y   (         x   1     ,     x     41   n         ¯     )   ]     2     +       [   z   (         x   1     ,     x     41   n         ¯     )   ]     2         N   (         x   1     ,     x     4   n         ¯     )   N     ​   c     (         x     10,         x     41   n         ¯     )       →   max           
     at constraints n=1, N  
     
       
         
           
             | 
             
               A 
               1 
             
             ( 
             
               
                 
                   x 
                   
                     10, 
                   
                 
                 
                   x 
                   
                     12 
                     n 
                   
                 
               
               ¯ 
             
             ) 
             + 
             
               B 
               1 
             
             ( 
             
               
                 
                   x 
                   
                     14 
                     n 
                   
                 
                 , 
                 
                   x 
                   
                     17 
                     n 
                   
                 
               
               ¯ 
             
             ) 
             | 
             ≤ 
             
               y 
               
                 max 
               
             
             , 
           
         
         
       
     
     
       
         
           
             | 
             
               A 
               2 
             
             ( 
             
               
                 
                   x 
                   
                     26, 
                   
                 
                 
                   x 
                   
                     29 
                     n 
                   
                 
               
               ¯ 
             
             ) 
             + 
             
               B 
               2 
             
             ( 
             
               
                 
                   x 
                   
                     30 
                     n 
                   
                 
                 , 
                 
                   x 
                   
                     33 
                     n 
                   
                 
               
               ¯ 
             
             ) 
             | 
             ≤ 
             
               z 
               
                 max 
               
             
             , 
           
         
         
       
     
     
       
         
           
             
               
                 
                   x 
                   
                     1, 
                   
                 
                 
                   x 
                   
                     41 
                     n 
                   
                 
               
               ¯ 
             
             = 
             
               { 
               
                 
                   
                     1, 
                   
                 
                 
                   
                     0, 
                   
                 
               
             
             , 
           
         
         
       
     
     where y max , z max  are maximum tolerable deviation of generalised coordinate of the module relative to zero. 
     EFFECT: higher efficiency operation of proposed robot in ambient medium. 
     2 cl, 4 dwg