A Generalized Method for Solving a Group of Problems Referring to the Dynamics of Manipulators with an Electromechanical Servo Drive

  • Ivan I. Artobolevskii
  • Alexander G. Ovakimov
Part of the International Centre for Mechanical Sciences book series (CISM, volume 201)


To describe the drive configuration, transmission systems and their dynamic parameters, a matrix group is used. This makes it possible to carry out dynamic calculations for manipulators with different drive layout by means of common calculation formulae.

The solution of a group of dynamic problems is given. The displacement of the actuator mechanism, according to the present motion of the control lever, is described. The influence of the system dynamics on the error, when transmitting the clamping action of the terminal device, and on the perception by the operator of the load applied to the actuator mechanism is discussed.

The displacement of the actuator machanism under the action of static loads is also defined.


Kinematic Chain Gear Ratio Gear Drive Actuator Mechanism Terminal Device 
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  1. [1]
    ARTOBOLEVSKII I.I., KOBRINSKII A.E., Robots (in Russian), Mashinovedenje, 5, 1970, pp. 3–11.Google Scholar
  2. [2]
    OVAKIMOV A.G., ANSHIN S.S., The manipulator Jacobi matrix and its application to the détermination of errors of state in statics (in Russian), Mashinovedenje, 2, 1972, pp. 34–39.Google Scholar
  3. [3]
    OVAKIMOV A.G., Equations of motion for space gear-lever mechanisms with some degrees of freedom (in Russian), Mashinovedenje, 6, 1970, pp. 28–34.Google Scholar

Copyright information

© Springer-Verlag Wien 1974

Authors and Affiliations

  • Ivan I. Artobolevskii
    • 1
  • Alexander G. Ovakimov
    • 2
  1. 1.Academy of Sciences of the USSRMoscowUSSR
  2. 2.Moscow Aviation InstituteMoscowUSSR

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