Optimization of manipulator's motion mode on elastic base according to the criteria of the minimum central square value of drive torque

The results of studies optimizing the mode movement manipulator boom, mounted on an elastic base with a known stiffness paper presents. purpose this scientific research is to reduce oscillations turnout system, which will increase overall efficiency manipulator, durability and reliability metal structure elements. implementation goal have achieved by applying controlled operation drive dynamic balancing mechanism. Using Lagrange equation second kind, motion boom was compile expression for generalized driving moment mechanism system determined. This study considers only angular displacement boom. unbalanced had estimated component total inertial moving mass load static from present in form linear spring given coefficient elasticity. Since main external factor oscillation, perturbation drive, so we used target optimization function, estimates root mean square value criterion integral functional, search its minimum carried out using methods calculus variations.
 work can control at design stage during operation. dynamics such structural elements systems cranes also estimated. obtained optimal modes be hydraulic drive.