IMPROVEMENT OF THE GEOMETRIC SHAPE OF THE INDEPENDENTLY CONTROLLED ELEMENT OF THE MANIPULATOR

Abstract

Nowadays, manipulators have been widely used in construction, medicine, industrial production and research. This paper considers the use of a manipulator with independently controlled individual elements. This design provides ease of installation of the entire device and a significant reduction in the time required to adjust the manipulator in the event of a change in the technical task. The most studied are manipulators with elements of the petal type, in which the clutch is due to the creation of high or low pressure. Such a system is sensitive to the settings and the number of elements. Another common type is centrally controlled manipulators, in which the adhesion of adjacent elements occurs through the use of electromagnets. The disadvantage of such a system is the need to use a large number of control cables, which significantly limits the number and flexibility of structural elements.

To increase the flexibility of the whole structure, the question of increasing the possibility of bending the manipulator by changing the geometry of the shape of its independently controlled element is considered.

It is proposed to use the disk shape of the element, which will allow you to use the manipulator in the tunnel holes that intersect at right or acute angles.

The question of providing the general rectilinear arrangement of all device due to alternate coupling of mobile elements of the manipulator in various axial planes is considered.

The paper provides an approximate estimate of the relative increase in the diameter of the entire manipulator relative to the diameter of the disk element depending on the angle of the working face of the surface to the base plane of the disk. The dependence of the relative increase in diameter on the number of simultaneously connected in one axial plane of the structural elements is considered.

Keywords: manipulator, remote controlled element, disk form of manipulator element.