ISSN 0536-1028 (Print)              ISSN 2686-9853 (Online)  

Beisembaev K. M., Reshetnikova O. S. – Karaganda State Technical University, Karaganda, the Republic of
Kazakhstan. E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
Teliman I. V. – The Ural State Mining University, Ekaterinburg, the Russian Federation.
Artemova A. A. – Karaganda State Technical University, Karaganda, the Republic of Kazakhstan.
New economic conditions lead to an expansion in the use of program-driven manipulators. Their constructive schemes
should meet the principles of universal designs, modeling and design methods in 3D. An example of calculation and
visualization of power and design parameters based by the example of table processors is considered. This makes it
possible to explore the features of the manipulators and the possibility of their testing with the typical software based on
Adams. The peculiarities of calculation of parameters for providing a given trajectory with the positioning of the construction
carried by the manipulator are revealed. And the results confirming the possibility of creating universal designs are
obtained. The peculiarities of the stress-strain state of power hydraulic cylinders and the formation of asymmetric contact
zones at the collar bush and piston are studied at work with eccentricity, which will allow solving a number of problems of
designing manipulators for difficult-extracting mineral deposits development systems.

Key words: manipulator; hydraulic cylinder; equilibrium equations; contact pressures.

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