CALCULATION OF THE GENERALIZED FORCES OF THE FORESTRY MANIPULATORS WITH FOUR DEGREES OF FREEDOM
In this paper is considered the dynamics of the machine manipulator type having 4 degrees of freedom. A specific consideration concerns the dynamic process of loading and unloading logs by hydro manipulator CF885 forwarder driver Timberjack 1710D. We consider kinematic scheme of hydro manipulator in a simplified form. We neglect the elastic properties of the construction, pliability the working fluid in the hydraulic system of the manipulator, and accepted that centers of the links mass (boom, arm, telescopic extension) are located on the axes of these links in the center of the corresponding link. We calculate the elementary works δA(q_i ). Generalized forces were calculated at every virtual displacement. We describe a definition of the relation between speeds of the handle manipulator drive links in detail. The kinetic energy of the system with four degrees of freedom was determined. This calculation will be used for the compiling differential equations of motion using the Lagrange equations.