Analysis of instantaneous states of the output link of anthropomorphic robot mechanism using geometric modeling methods

The analysis of instantaneous states of the moving system connected with the output link of the anthropomorphic robot is carried out based on the use of graphical constructions performed on the frontal and horizontal projections. The constructions of the velocity plane and the velocity beam are performed for the obtained instantaneous values of generalized velocities using the example of the given synthesis of small motions of the robot mechanism. The synthesis of movements is based on the use of matrices of partial gear ratios using the criterion of minimizing the quadratic functional of the volume of movement. The graphical analysis of the components of the vectors of absolute linear velocities of three points of the moving system made it possible to determine the method for calculating intermediate configurations of the arm of the anthropomorphic robot based on the use of weight coefficients of generalized velocities. The results of calculating the test task in computer modeling of the movement of the anthropomorphic robot are presented.