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High-Precision Servo Drives Technological Robots. Problems and Solutions

The main results of the research and the main principles of construction of precision geared mechatronic drives for technological robots, which contain elastic mechanical transmissions with backlash in the closed position control loop of the manipulator links, are presented. The results of computer simulation show significant increase in accuracy of movements of technological robots with the suggested type of drives, and also show advisability of their implementation both for operations without force contact between the manipulator tool and processed object, and with such contact.