Manipulator on the basis of spatial mechanism

Abstract

 The paper discusses the development of mathematical models of kinematics and dynamic system of the manipulator based on the spatial mechanism. It is also conducted research on the developed mathematical models. In the development of mathematical models of the kinematics and dynamics of the fundamental assumptions used in mechanics and the theory of vibrations. Were solved direct and inverse kinematics to control this mechanism, defined coefficients stiffness and natural frequencies. Scope of the manipulator - the adaptation to the spatial orientation of the workpiece on the machine.