title: ÐÐ¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ°Ð±Ð¾ÑÑ Ð´Ð²ÑÑ Ð·Ð²ÐµÐ½Ð½Ð¾Ð³Ð¾ Ð°Ð½Ð³ÑÐ»ÑÑÐ½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ° Ð¿Ð¾ ÐºÑÐ¸ÑÐµÑÐ¸Ñ Ð¼Ð¸Ð½Ð¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¿Ð¾ÑÑÐµÐ±Ð»ÑÐµÐ¼Ð¾Ð¹ Ð¼Ð¾ÑÐ½Ð¾ÑÑÐ¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Optimization of the operating algorithm of a two-link angular robot according to the criterion of minimizing power consumption
Creators: name: ÐÐ³Ð°ÐµÐ², ÐÐ°ÑÑÐ¼
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: ÐÑÑÐ¸ÑÐ»Ð¸ÑÐµÐ»ÑÐ½ÑÐµ Ð¼Ð°ÑÐ¸Ð½Ñ ÑÐ»ÐµÐºÑÑÐ¾Ð½Ð½ÑÐµ
Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ
Ð¿ÑÑÐ¼Ð¾Ð»Ð¸Ð½ÐµÐ¹Ð½Ð°Ñ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ñ
Ð·Ð°ÐºÐ¾Ð½ Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ñ ÑÐºÐ¾ÑÐ¾ÑÑÐ¸
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Ð¼Ð¾ÑÐ½Ð¾ÑÑÑ
Ð¾Ð±Ð»Ð°ÑÑÑ ÑÐ°ÑÐ¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ
Ð¼Ð°ÑÑÐ¸ÑÐ° ÑÐ½ÐµÑÐ³Ð¸Ð¸
ÑÐ¼ÐµÑÐµÐ½Ð¸Ðµ Ð³ÑÑÐ·Ð°
optimization
right-linear trajectory
law of velocity change
analysis
power
location area
energy matrix
load displacement

description: Ð¦ÐµÐ»ÑÑ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¾ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð´Ð²ÑÑÐ·Ð²ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°, Ð¿ÐµÑÐµÐ¼ÐµÑÐ°ÑÑÐµÐ³Ð¾ Ð³ÑÑÐ· Ð¿Ð¾ Ð¿ÑÑÐ¼Ð¾Ð»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸, Ñ Ð¼Ð¸Ð½Ð¸Ð¼Ð¸Ð·Ð°ÑÐ¸ÐµÐ¹ Ð¿Ð¾ÑÑÐµÐ±Ð»ÑÐµÐ¼Ð¾Ð¹ Ð¼Ð¾ÑÐ½Ð¾ÑÑÐ¸. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ Ð±ÑÐ»Ð¸ ÑÐµÑÐµÐ½Ñ Ð² Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÐµ - Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð¸ÑÐ¾Ð²Ð°Ð½ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼ ÑÐ°Ð±Ð¾ÑÑ Ð´Ð²ÑÑÐ·Ð²ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¿Ð¾ ÐºÑÐ¸ÑÐµÑÐ¸Ñ Ð¼Ð¸Ð½Ð¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¿Ð¾ÑÑÐµÐ±Ð»ÑÐµÐ¼Ð¾Ð¹ Ð¼Ð¾ÑÐ½Ð¾ÑÑÐ¸. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¼ÐµÑÐ¾Ð´Ð¸ÐºÐ° Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ°ÑÐ¿Ð¾Ð»Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð´Ð»Ñ Ð¼Ð¸Ð½Ð¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÐ½ÐµÑÐ³Ð¾Ð¿Ð¾ÑÑÐµÐ±Ð»ÐµÐ½Ð¸Ñ Ð¿ÑÐ¸ Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¼ ÑÐ¼ÐµÑÐµÐ½Ð¸Ð¸ Ð³ÑÑÐ·Ð°. ÐÐ¾Ð»ÑÑÐµÐ½Ñ Ð·Ð½Ð°ÑÐµÐ½Ð¸Ñ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ ÑÐ¾ÑÐºÐ¸ Ð¾Ð¿Ð¾ÑÑ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°, Ð¾Ð±ÐµÑÐ¿ÐµÑÐ¸Ð²Ð°ÑÑÐ¸Ðµ Ð¼Ð¸Ð½Ð¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð¿Ð¾ÑÑÐµÐ±Ð»ÑÐµÐ¼Ð¾Ð¹ ÑÐ½ÐµÑÐ³Ð¸Ð¸ Ð´Ð»Ñ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÑ ÑÐ°Ð·Ð¼ÐµÑÐ¾Ð² Ð¾ÑÑÐµÐ·ÐºÐ° ÑÐ¼ÐµÑÐµÐ½Ð¸Ñ Ð³ÑÑÐ·Ð°. ÐÑÐ²ÐµÐ´ÐµÐ½Ð° Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÑ Ð·Ð½Ð°ÑÐµÐ½Ð¸Ð¹ Ð¼Ð¸Ð½Ð¸Ð¼Ð°Ð»ÑÐ½Ð¾Ð¹ Ð¼Ð¾ÑÐ½Ð¾ÑÑÐ¸ Ð¸ ÑÐ¾ÑÐµÐº Ð¾Ð¿Ð¾ÑÑ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð² Ð·Ð°Ð²Ð¸ÑÐ¸Ð¼Ð¾ÑÑÐ¸ Ð¾Ñ Ð´Ð»Ð¸Ð½Ñ Ð²ÐµÐºÑÐ¾ÑÐ° ÑÐ¼ÐµÑÐµÐ½Ð¸Ñ Ð³ÑÑÐ·Ð°.
description: The goal of the work was to optimize the operation of a two-link robotic manipulator moving a load along a straight path while minimizing power consumption. The problems that were solved in this work - the algorithm of operation of a two-link robot manipulator was optimized according to the criterion of minimizing power consumption. A method has been developed for determining the optimal location of the manipulator for minimum energy consumption for a given load displacement. The values of the coordinates of the manipulator support point were obtained, ensuring the minimization of energy consumption for various sizes of the load displacement segment. The dependence of the values of the minimum power and the support points of the manipulator is derived depending on the length of the load displacement vector.