№4 (59), 2021. ROBOTS, MECHATRONICS AND ROBOTIC SYSTEMS

A.D. Makarov, V.I. Marsov, E.V. Marsova, K.A. Dzhabrailov, E.O. Antonova

Selection of a manipulation system with an optimal kinematic structure

The article describes the method of geometric synthesis of the elements of the kinematic structure of the switchgear for constructing manipulator movements using the developed functions that allow solving the problems of controlling the orientation and positioning of arrows and grabbing special equipment, which is used to solve problems at large construction sites of the industrial industry. An assessment of the capabilities of the involved working space of the manipulation system is given when performing technological operations in space, using the kinematic coefficient.

Keywords: construction, concrete mix, manipulation system, manipulator, kinematic chain.

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