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Determination of geometric parameters of a manipulator using by characteristics the working environment

The use of industrial robotics in construction poses a number of severe and contradictory requirements, in particular, at high speed it is necessary to provide a given smooth movement and high precision of working out, and at the minimum mass and overall dimensions of actuators wish to receive the highest productivity and the performance of the robot. This increase in accuracy is usually associated with an increase in the mass and moment of inertia of the moving parts, and an increase in performance is achieved by the placement of tight drive mechanisms on the moving links of the robots, which significantly load them, thereby reducing the payload of industrial robots.  One of the key factors for efficient use of robots is the optimal selection of their parameters for the specific task, which requires additional research, since scientific works that clearly reflect the relationship between the work environment and the work are virtually absent. To use robots in construction, it is not necessary to have a clear model of understanding the functioning of these systems in the given technological conditions, as on the basis of this the optimal selection of the unit will be performed and the basic units and mechanisms of the work will be constructed. The purpose of this work is to establish the influence of a given working environment on the choice of geometric parameters of a two-link manipulator. The paper presents the dependence by which it is possible to estimate the energy-genetic parameters of the manipulator, which depend on its geometric dimensions. The study used methods of geometric similarity and analytical algebra, Lagrange equations of the 2nd kind, and known optimal laws of motion, which are correct for lifting machines.