Analysis of the kinematic characteristics of the automated unit's manipulator

When constructing structures with a foundation consisting of piles, pile drivers are used. This process consists of several steps: 1– preparing the site; 2 – transporting the piles to their placement location; 3 – installing the pile in the hammer; 4 – driving the piles at designated points. These tasks require the use of a range of mechanized equipment, including loaders and transport vehicles. A disadvantage of this process is the limited automation of the equipment. It is proposed to automate the technological process by using an automated loading and transport unit with manipulators. The design of the unit is proposed. The technological process of pile driving with loading and transport operations is described. The kinematic calculation of the manipulator's executive mechanism is performed relative to the specified position. The dependence of rotation angles of the manipulator's links and the changes in the speeds of the executive drive rods is found.

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