METHOD FOR DETERMINATION OF LOAD INITIAL POSITION FOR MANIPULATOR OF PARALLEL STRUCTURE BASED ON STRAIN-MEASURING DATA

摘要

FIELD: transport.;SUBSTANCE: to determine manipulator load initial position based on strain-measuring data load position is measured in initial position. Load is released from any two diagonal supports by increasing corresponding lengths of flexible connections. By means of changing lengths of two other flexible connections equal load on them is achieved. Function of position sensitive system is performed by support reaction force measuring transducers located on four supports through which ropes pass. A load is oriented so that it is placed in the centre of operating space.;EFFECT: load is brought to its initial position without complicated equipment based on strain-measuring data.;8 dwg