УПРАВЛЕНИЕ СВОБОДНЫМ ДВИЖЕНИЕМ ПНЕВМАТИЧЕСКОГО АМОРТИЗАТОРА ПЕРЕМЕННОЙ СТРУКТУРЫ

The industrial robots using positioning the stops to reduce dynamic loads and reduce the dynamic error component used special damping devices. However, when changing the speeds of the masses and working organs (PO) in a wide range such devices require the adjustment of its parameters. The use of shock absorbers as elastic thrusts allows for the maximum speed of the PO and the reduction of dynamic loads at the time of hitting the fence. Necessary characteristics depreciation quality can be obtained as a result of the construction of systems with variable structure, which are due to discontinuous control essentially nonlinear systems. Operation of the system variable structure provides instant removal and restoration, using the logic switching elements, relations between its individual links and the use of local mineral properties of these units [1]. In the energy aspect of the amortization of the system of variable structure are more advantageous than the active vibration isolation system as well as the energy they expended only on the parameters of control.