The Basis of Load Analysis on Coulisse Mechanism, Applied for Anthropomorphic Robots

Abstract

Anthropomorphic robots development is a rapidly growing technical direction. Modern constructions include advanced achievements in different sciences. At the same time actuators are based on the use of classical motors and movements gearing systems. One of the variant of hydraulic drill usage is a coulisse mechanism with mobile input link. Analysis of any type of motors is based on reduction of external loading to driving unit. The main kind of loading for anthropomorphic robots is inertial loading which is described by size and direction. In spite of wide usage of coulisse mechanisms with mobile input in architectural and highroad engineering there is no printed information regarding calculation procedures of vector value of inertial loading. If the speedups are low then their values can be neglected as it is insignificant in comparison with technological loading. However it is inadmissible if speedup values are prevail. In spite of translation of motion specificity in coulisse mechanism with internal input its structural arrangement corresponds to a classic variant and hence it can be researched with classic methods. The article includes an approach to kinematic research of given type of mechanism using an approved method of plans, speeds and speedups. Besides, the authors consider it necessary to continue discussion of issues considering the use commonly used robotic terms.