Acta of Turin Polytechnic University in Tashkent


The article deals with the concept of mathematical de- scription of multi-coordinate mahatronic modules of robots. The main results of the work are a generalized structure of a multi- coordinate mechatronic module of motion, a kinematic diagram of an electromagnetic multi-coordinate mechatronic module with three independent coordinate linear and angular movements is proposed, consisting of four electromagnets, controlled couplings designed to transmit the reciprocating motion of the moving parts of electro- magnets to the output rods and a cable, which are associated with the links of work and bringing them into linear and angular mo- tion. A simulation model of the functioning of the multi-coordinate mechatronic movement module in the MATLAB system has been developed. A mathematical description of the mechatronic module is given, which includes a description of the engine, a description of a mechanical transmission and a control device. An important aspect of the study is the use of a multi-coordinate mechatronic movement module in robots, which allows obtaining several linear and angular coordinates in one module at the output, which reduces the weight and dimensions of the robot and thereby improves its dynamic characteristics. There are no constructive solutions for a similar purpose in the literature. The proposed concept of the math- ematical description of the multi-coordinate mechatronic module is original, which are oriented to display their structural and opera- tional features.

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