CONTROL METHOD OF ACTUATING MECHANISM OF ROBOT-MANIPULATOR WITH FORCE-LOAD FEEDBACK AND DEVICE FOR ITS IMPLEMENTATION Russian patent published in 2019 - IPC B25J13/02 B25J21/00 

FIELD: machine building.

SUBSTANCE: invention relates to machine building, particularly, device for controlling a robot-manipulator with a force-load feedback mounted on a movable support in a radiation protection chamber and a control method using such a device. Device comprises a handle kinematically connected to mechanical assemblies, providing separate and simultaneous movement of the handle along three mutually perpendicular directions and rotation around three mutually perpendicular axes, and is connected to robot-manipulator through personal computer, providing its start-up and monitoring. Mechanical units are made in the form of two longitudinal drives along axis X, one perpendicular drive along axis Y, their ends located on longitudinal drives, and one vertical drive along axis Z, its end located on perpendicular drive. Longitudinal, perpendicular and vertical drives are equipped with step motors, and vertical drive by means of levers additionally is connected to three servo-motors, providing rotation of control handle around axes X, Y and Z.

EFFECT: invention provides expansion of technical capabilities of robot-manipulator.

5 cl, 3 dwg