Determination of the Working Zone of the Manipulator Mechanism of an Anthropomorphic Robot Based on Analysis of Instant State Implementations

The object and purpose of the study is to develop a generalized method for determining the boundaries of the working zone of manipulator mechanisms (PMMZ) on the example of the given model of the kinematic chain of the anthropomorphic robot AR-600E. The method of constructing a work zone allows for a given orientation of the hand (gripper axis) in relation to the horizontal plane. А mathematical model is constructed that allows, on the basis of input parameter setting, to determine the boundary contour lines of RZMM for arbitrary models of kinematic chains of manipulator mechanisms with provision of axis orientation of gripping within specified limits. The developed mathematical model is based on the definition of a plurality of configurations using implementations of instantaneous states, in which the specified positioning accuracy of the center of the output link (UP) is ensured. For these purposes, a private transfer ratio matrix is used to establish a linear relationship between generalized speeds and HV speeds. One of the sections of the RLMM is built on top. The research carried out has made it possible to establish the shape and position of the limiting curve of the external boundary RZMM of an anthropomorphic robot in a given horizontal plane. Similarly, the errors of linearization are inves tigated when the HV center is in the studied plane at a given module of its linear velocity. Research results can be used in the design of technological processes performed by robots, based on computer modeling of executive mechanism movements with constraints set to the orientation axis of the hand (gripper axis).