Kinematics and dynamics of robots and manipulators. (1986)

Samples of industrial robot manipulators, the work of automatic production lines.

Automatic packaging of sweets in boxes using manipulators at a confectionery factory.

The operator sets the program of the manipulator.

Demonstration of the work of robot manipulators.

View of an automated workshop of one of the industrial enterprises.

Execution of production operations by robot manipulators.

Movements of varying complexity performed by robots during production operations, moving parts and tools.

Performing automatic operations of high precision operations.

The operation of an executive mechanism that provides the robot with the necessary mobility.

A type of industrial robot "Cyclone-5", having how many degrees of mobility.

Demonstration of vertical movement of the manipulator.

Rotation of the manipulator column relative to the bed.

Progressive extension of the manipulator arm, simultaneously with horizontal movement.

Rotation of the arm grip of the manipulator relative to the retractable link.

The scheme of operation of the manipulator relative to its working area, types of rectangular and cylindrical working area (animation).

The capture of parts by the manipulator's hand and the assembly of a separate node.

Drawing up a kinematic diagram of a manipulator with five degrees of mobility of rotational and translational pairs (animation, combined shooting).

Schemes of various combinations of rotational and translational pairs used in the design of manipulators (animation).

A manipulator arm with six degrees of mobility.

The main criteria for evaluating the quality of manipulators (animation).

The bends of the manipulator arm.

Scheme for evaluating the possibility of angular movements of the manipulator (animation).

Performing high-precision work by the manipulator.

The scheme for determining the positioning error (animation).

An example of the performance of a robot manipulator when performing various operations.

Rotation of the manipulator by means of an engine mounted on a fixed base, transfer of motion from the engine to the manipulator through intermediate links and hinges.

A scheme for reducing the accuracy of positioning the manipulator during deformation of the transfer links (animation).

Variants of the location of manipulator motors in various places of the kinematic chain, on intermediate links.

Transmission of motion by means of a motor located directly in the hinge of the manipulator.

Execution of production operations by the manipulator.

View of the rotary pair of the manipulator.

The scheme of the rotational pair, the formulas for determining the relative angular velocity and relative angular acceleration (combined shooting, animation).

View of the translational pair of the manipulator.

Characteristics and schemes of relative motion in translational pairs of the manipulator, formulas for determining relative linear velocity and relative linear acceleration (combined shooting, animation).

The scheme of movement in several kinematic pairs when performing complex movements in a fixed coordinate system (animation).

Determination of the absolute angular velocity of the second link of the manipulator (animation).

Operation of the manipulator at angular velocity.

Determination of the absolute angular velocity during rotation in all kinematic pairs of the manipulator (animation).

Determination of the capture speed with motion in two kinematic pairs with different angular velocities (animation).

The formula of the linear capture rate.

The formula for determining the capture speed with simultaneous movement in all joints of the manipulator (animation).

The designation of two main tasks for determining the dynamics of the manipulator (animation).

Diagram of forces acting on the links of the manipulator (animation).

The effect of the reaction from external objects on the working link of the manipulator indicating the actions of vectors of various forces (animation).

Schemes of action of inertia forces (animation).

The scheme of application of the D'Alembert principle in the movement of the manipulator (animation).

Decomposition of forces in the manipulator hinge under the influence of external forces and inertia forces, vector equations for forces and moments relative to the center of the manipulator hinge (animation).

The formula of the dynamics of the manipulator hinge.

Equations compiled for the kinematic pair of the manipulator.

The operator of an automated line of robot manipulators at the control panel.

Execution of various production operations by robot manipulators on automated lines.

The arm of the manipulator that captures the part.

Processing of various parts carried out by robotic manipulators.

View of a part of a line of robot manipulators.