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.
This paper presents a new concept of the manipulator of the specialized tracked vehicle, designed within the project “WND- POIG.01.03.01-00-164/09 & UOD-DEM-1-145/011”, to be applied for conservation of the protected wetlands. The flail mower, cutting disk for trunks of the trees and/or new version of cutting head are to be interchangeably fitted at the end of the manipulator. It should be more functional in use and more efficient in cutting and removing small trees or bushes, or shredding them on spot. The new cutting head, described in this paper is dedicated to remove and transport branches of bushes, as well as single small trees with a diameter up to 140 mm and weight up 400 kgs on 3.2 m length arm. The paper presents the results of the kinetostatics and strength analysis of the virtual model of the new version of the manipulator. Real model of the new manipulator will be made from the steel S355 and its mass without tools should be around 350 kgs. The manipulator will be tested during field tests that are planned in the summer 2015.