The modal analisis of a two-link mechanical system of a robot manipulator
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Lviv Polytechnic National University
Lwiw Polytechnic National University
Karpenko Physico-Mechanical Institute of the NAS of Ukraine
Submission date: 2022-06-28
Final revision date: 2022-08-26
Acceptance date: 2022-08-28
Online publication date: 2022-08-31
Publication date: 2022-08-31
Corresponding author
Yevhen Kharchenko   

Lviv Polytechnic National University
Diagnostyka 2022;23(3):2022304
The method of calculation of natural frequencies and forms of oscillations of a two-link mechanical system of a robot manipulator is proposed. Links of the system are considered as straight rods with a step change of cross-sectional parameters. The equations of motion of a mechanical system are based on the technical bending theory. The analysis of oscillation processes is carried out using the matrix method of initial parameters.
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