INCREASE OF EFFICIENCY OF CYCLE MACHINES WITH ELASTIC ENERGY ACCUMULATORS BY MEANS OF CONTROLLING CORRECTIVE ACTIONS

There the purpose is to provide the operation of cycle mechanisms at the characteristics given unaccurately. The coarse and adaptive control algorithms for the operation of mechanisms under the conditions varying often and at the characteristics given unaccurately have been developed. The control for the providing of joint operation of interconnected modules of two-dimensional mechanism has been offered. The practical recommendations for the choice of accumulator characteristics at the joint motion of modules have been presented. The distribution device of energy between the drives at the realization of complex space motion has been offered and has been studied. The use possibility of obtained algorithms for the resonance robot-manipulator has been confirmed by experimentAvailable from VNTIC / VNTIC - Scientific & Technical Information Centre of RussiaSIGLERURussian Federatio