Contribution to the load capacity estimation for interacting manipulators coupled via a common object

摘要

In the design of controlled manipulators, an important role is played by estimates of their mechanical properties, primarily the load capacity. The authors investigate, in a fixed configuration, the static load capacity of a system of manipulators transporting a common object. The problem of determining the load capacity is reduced to a general problem of linear programming whose solution can be obtained by using well-known numerical methods of optimization. On the basis of such a formalization of the problem, the lower and upper estimates of the load capacity are obtained. An analytic example is presented. Some comments on improving the methods of calculating the load capacity are made.