A. A. Mokaeva, Yu. Kh. Khamukov, L. Z. Shautsukova, V. A. Denisenko, A. U. Zammoev, “Development of the kinematic scheme of system of rope control of the "trunk" type manipulator”, News of the Kabardin-Balkar scientific center of RAS, 2015, Issue 6-2,Pages <nobr>137

COMPUTER SCIENCE. CALCULATION EQUIPMENT. MANAGEMENT

Development of the kinematic scheme of system of rope control of the "trunk" type manipulator

A. A. Mokaeva^a, Yu. Kh. Khamukov^b, L. Z. Shautsukova^c, V. A. Denisenko^b, A. U. Zammoev^b

^a Bauman Moscow State Technical University, 105005, Moscow, 2nd Baumanskaja, 5
^b Institute of Computer Science and Problems of Regional Management of KBSC of the Russian Academy of Sciences, 360000, KBR, Nalchik, 37-a, I. Armand street
^c Kabardin-Balkar State University n.a. H.M. Berbekov, 360004, KBR, Nalchik, 173, Chernyshevsky street

Abstract: The article presents the results of the development of the kinematic scheme and design of multi-link flexible manipulator with solid elements on orthogonal hinges, driven by coaxial cable (rope) system. The estimation of efficiency of the rope management is presented.

Keywords: multilink manipulator, orthogonal to the hinge, cable (rope) system, coaxial, flexible.

UDC: 681.513.2

Received: 04.12.2015