Development of a computer model moving element of the manipulator
Authors
I. Sh. Nasibullayev
Mavlyutov Institute of Mechanics, Ufa Federal Research Center of RAS
Oleg V. Darintsev
Ufa University of Science and Technology
Keywords:
continuous manipulator, finite element method, stress-strain state, mechanics of contact interaction, CalculiX
Abstract
The paper presents a method for modeling a manipulator consisting of two elements with a spherical working surface – a fixed element and a movable element in point contact with it. The elements contain four symmetrical, relative to the center, through holes through which rods pass, attached to the lower surface of the movable element. The rolling of the movable element was carried out due to the vertical movement of the rods. The trajectories of movement of the movable element, as well as the stress-strain states of the elements and rods, were obtained. The proposed model makes it possible to simulate the stress-strain state of the type of manipulator under consideration depending on the geometry of the components of the manipulator, the materials of the elements and rods, external influences and the orientation of the elements (taking into account the influence of gravity). The basic model can be used to build a model of a multi-element manipulator.
