Hypergraphs and their subgraphs in modelling and investigation of robots

In this paper the problem of modelling and investigation of a manipulator of a robot is considered. A model of the manipulator of the robot is considered as a mechanical system consisting of two links, with continuously distributed parameters. Next, a hypergraph of two blocks has been built to represent the model. The loaded and oriented skeleton of the hypergraph is used to determine a dynamical characteristic matrix of rigidities of the system.