STIFFENING OF MANIPULATORS WITH LIGHTWEIGHT LINKS

Novel approaches to the design of manipulation mechanisms, based on the links force relief, are proposed. The approaches mate it possible to create lightweight actuators with long links and minimum operational static and dynamic errors caused by elastic deformation of the links. The problem is solved by increasing the flexural rigidity of the links severalfold by using special relief mechanical devices with electrohydraulic drives which do not lead to a significant increase in the mass and overall sizes of the links.