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