Program motion of unloading manipulators

Vu Duc Binh; Do Dang Khoa; Phan Dang Phong; Do Sanh

doi:10.15625/2525-2518/56/5/11811

Program motion of unloading manipulators

Vu Duc Binh, Do Dang Khoa, Phan Dang Phong, Do Sanh

Author affiliations

Authors

Vu Duc Binh Viet Tri University of Industry, Tien Cat Ward, Viet Tri City, Phu Tho Province, Viet Nam
Do Dang Khoa Hanoi University of Science and Technology, No.1 Dai Co Viet Str., Ha Noi, Viet Nam
Phan Dang Phong National Research Institute of Mechanical Engineering, No. 4 Pham Van Dong Str., Ha Noi, Viet Nam
Do Sanh Hanoi University of Science and Technology, No.1 Dai Co Viet Str., Ha Noi, Viet Nam

DOI:

https://doi.org/10.15625/2525-2518/56/5/11811

Abstract

In the paper, the program motion of an unloading manipulator which is treated as a first integral of the considered system, is investigated. Currently, the popular way to solve such problem is the method of Lagrange multipliers. In the paper, the authors use another approach, the Priciple of Compatibility, in which the required program is treated as one of motion equations of the system. In the particular case, the program is considered as one of first integrals of the system. For illustrating the proposed method, the motion of an unloading manipulator of three degrees of freedom is considered.

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Published

10-10-2018

How to Cite

[1]

V. D. Binh, Do Dang Khoa, Phan Dang Phong, and Do Sanh, “Program motion of unloading manipulators”, Vietnam J. Sci. Technol., vol. 56, no. 5, pp. 662–670, Oct. 2018.

IEEE

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Issue

Vol. 56 No. 5 (2018)

Section

Mechanical Engineering - Mechatronics

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