Mathematical Models Construction for Building Robots with Due Account of Elastic Deformations of Mechanisms

The paper presents the formulation of general approach to construction of structural models for elastic manipulators, which can be presented in the form of collection of connected in series bodies experiencing elastic deformation, and suggests the methods of changing over to such structure. The paper describes in detail the method of constructing mathematical models for manipulators with elastic couplings, which is based on the principle of finite partitions and differs by introducing fictitious degrees of freedom in the points critical to deformations. It also considers an example of constructing model for a building-mounting robot on the basis of the suggested method.