Mechanical Systems of Precise Robots with Vibrodrives, in which the Direction of the Exciting Force Coincides with the Line of Relative Motion of the System


  • Kazimieras RAGULSKIS Kaunas University of Technology
  • Bronislovas SPRUOGIS Vilnius Gediminas Technical University
  • Marijonas BOGDEVIČIUS Vilnius Gediminas Technical University
  • Arvydas MATULIAUSKAS Vilnius Gediminas Technical University
  • Vygantas MIŠTINAS Vilnius Gediminas Technical University
  • Liutauras RAGULSKIS Vytautas Magnus University



manipulator, generator of mechanical vibrations, self stopping mechanism, frequency spectrums, characteristics of harmonic vibrations, mechanical systems of robots, vibrodrive with soft impacts, parameters of nonlinear elements, stability.


Manipulator consisting from one sided self stopping mechanism and two masses which interact through an elastic – dissipative member is investigated. The drive of the manipulator is the generator of mechanical vibrations. With such elements the system is nonlinear. A separate case is investigated when static positions of equilibrium of both masses are located in one point. Because of this spectrums of eigenfrequencies are linear and infinite. All those facts mean that the operation of the manipulator is optimal.

Fast development of robots gives rise to the investigations of increasing intensity creating various types of robots especially in the area of high precision. Mechanical systems of robot must perform laws and trajectories of motion, positioning in space with highest possible precision as well as ensure dynamicity of highest possible stability. Those aims are achieved in the presented paper by creating a structure of the best design, based on vibroimpacts as well as by choosing corresponding nonlinear parameters of the system. The investigation is performed by analytical – numerical method. The obtained results enable to create mechanical systems for precise robots.