International Scientific Journals
of Scientific Technical Union of Mechanical Engineering "Industry 4.0"

The article presents the rationale for an algorithm describing the interaction of random peak load parameters and strength parameters used in defining the reliability criteria for the working elements of robotic systems. The assessment method is founded upon finding the probability of attaining a dangerous state during the realization of an extreme random process within the calculated operational time interval. To facilitate this analysis, the random parameters of the load and the strength of the machine’s working element are represented as functional dependencies of the generalized load and generalized strength on time.

This article presents the general solution to the differential equations of motion for vibratory drives with both inertial and kinematic excitation in the first approximation during the passage through the resonance zone. Expressions for the maximum resonant amplitudes and the corresponding values of the phase and frequency were determined. An analysis of the resulting expressions is provided for the characteristic periods of acceleration and deceleration. The necessity of utilizing coupled dynamic models is underscored by the inherent instability observed in traditional simplified systems when operating beyond the natural frequency.

The article presents an algorithm for solving the forward kinematics problem for a multi-link manipulator robotic system model based on the matrix method of attached coordinates.