TYPES OF MOTION EQUATIONS FOR THE MANIPULATOR
The use of manipulators as mechanisms with an open kinematic chain of moving links with angular or linear movements is of interest in various technological operations for moving objects. The questions of constructing a dynamic model of the manipulator using a dimensional and dimensionless form of describing the equations of motion on the example of a flat manipulator with rotational kinematic pairs are considered. The manipulator is controlled by controlling the relative position of the links and their angular movement relati ve to each other. A system of equalities for determining the angular displacements of manip ulator links in an inertial coordinate system is presented. Generalizing the structure of these equalities to an arbitrary number of manipulator links, the position of an arbitrary manipulator link in the inertial coordinate system is determined. To determine the coordinates of kinematic pairs, recurrent dependencies are given. When developing a dynamic model of the manipulator, its movement in the potential field of gravity, the inertial properties of the links, and the active forces of the drives that provide independent movement of the links are taken into a ccount. The dimensionless form of the equations of manipulator motion is presented.