Method for determining reactions in hinges of mechanism of original manipulator

Abstract

This article discusses the development of a method for determining reactions in the hinges of a manipulator, based on the classical principle of release from bonds in the example of its main part. A model of a manipulator has been compiled, in which, in the general case, a force F of arbitrary orientation acts on the working platform. The design scheme of the manipulator is compiled and a complete calculation is made under the action of the horizontal component force Fx. By analogy, the reactions from the action of the horizontal Fy and vertical Fz components of forces are determined and general dependencies are derived. Knowledge of the numerical values of the found reactions in the hinges of the manipulator will allow, according to known hypotheses, to calculate this manipulator for strength and rigidity.