Abstract:Digital control of manipulator of railway track machine (RTM). It is shown, that exactness and performance of operation execution are the main characteristics, which determine quality of work RTM. Manipulator design with pyramidal structure, in which mechanism is actuated with linear drives, placed in parallel, is described. Mathematical model of exactness evaluation, when there is dry friction at actuators, is worked out. It is shown, that mechanics parallelism leads to cross-links between grasp coordinates c… Show more
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