OPTIMIZATION OF THE DESIGN PARAMETERS OF ROBOTIC MOBILITY PLATFORMS FOR TRAINING MACHINE OPERATORS ON THE SIMULATOR AND THE IMPLEMENTATION OF THE REQUIRED TRAJECTORIES

摘要

The article discusses and analyzes various options for the design of robotic mobility platforms (RMP), which can be used as part of complete test benches and simulators for training operators of various equipment. Various trajectories of movement of the mobile platform of the RMP are considered. Investigations have been carried out based on a parameterized simulation model (MSC Adams) to determine the optimal location of the attachment points of the joints in the upper movable platform. Minimization of the force parameters in the reactions of the corresponding supports was chosen as an optimization criterion in this case. All the accepted trajectories were worked out during the investigation. Various options of the relative position of the joints of the base and the upper movable platform of the RMP have been investigated. Similarly, for the selected trajectories, an investigation and analysis of the force parameters arising in the joints at different main diameters of the location of the base and upper movable platform joints were carried out. As an initial main version, an option was adopted with the arrangement of the joint supports taken as the optimal one. Modeling and search for the most optimal execution options are carried out based on the developed digital simulation model of the RMP in the MSC Adams system. The results of mathematical and simulation modeling are presented.