ADAPTIVE MOBILE 3D MANIPULATOR ROBOT AND METHOD OF ORGANISING DISPLACEMENTS AND CONTROL OVER PHYSICAL-MECHANICAL PROPERTIES, GEOMETRICAL SHAPE OF CONTACT SURFACE AND DISPLACEMENT TRAJECTORY HEREBY

摘要

FIELD: process engineering.;SUBSTANCE: invention relates to robotics. Manipulator robot comprises 3D structure made up of octahedron module in its initial position with its edges made up of rods with their ends pivoted together at octahedron module vertices. Note here that said rod are equipped with linear drives with relative displacement transducers. Note also that said rods allow varying their length in response to control instructions sent to linear drives from control system. All faces of octahedron module allows their connection to similar modules and all rods are provided with hinged arranged on their ends and made up of balls. Octahedron module vertices and rear face rod centers are provided with radial thrusts with temperature gages and electric contacts to form adaptive grippers and retaining supports of manipulator robot.;EFFECT: expanded operating performances and higher reliability.;14 cl, 11 dwg