ADAPTIVE MOBILE SPATIAL robotic arm Sayapin - Sineva AND METHOD OF MOVEMENT AND CONTROL physico-mechanical properties and geometric shapes contacted surface and the trajectory of motion with his help

摘要

1. Adaptive spatial mobile robot manipulator comprising a spatial structure oktaedrnogo module in the rest position, the ribs oktaedrnogo module are in the form of rods, the ends of which are pivotally connected at its vertices, wherein two rods parallel faces oktaedrnogo module configured to compound therethrough with similar modules to form a common faces are provided with linear actuators to the sensors relative movement to vary their length according to control commands m by the control system, characterized in that all the faces oktaedrnogo module are connectable through them with similar modules and all rods oktaedrnogo module provided with linear drives with pivotal connections at the ends, made in the form of spherical joints or equivalent compounds, wherein the vertex oktaedrnogo module and medial portions of rods rear face located on the opposite side from the direction of motion and the parallel front face located on the side toward motion eniya, provided with radial abutments with temperature sensors and insulated from each other by electrical contacts to define said adaptive grippers and locating the robot manipulator supports, wherein each of the rods is provided with a sensor of the relative displacement and relative velocity stops - force sensors, and the vertices of the octahedron - combined spatial position sensors and acceleration representing triaxial miniature gyroscopes, accelerometers blocks, with the linear drives, force transducers, temperature, from