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The article considers the development of a control algorithm for the actuating links of a manipulator with a parallel-serial structure. The authors suggest a two-stage procedure for resolving the problem of controlling the robot operating body motion into a set neighborhood of the final state for a set time. The first stage covers the process of solving the problem of defining the manipulator generalized coordinates at the set coordinates of the operating body. Then the problem of determining the laws of the formation of reference influences for the actuators is solved, which ensures the movement of the working body in the vicinity of a given point. The technique for the synthesis of dynamic algorithms for stabilizing the effector relative to a given position and implementing the program paths is based on generating the control signals of actuators by solving the inverse dynamic problem using a control signal generation algorithm provided that deviations from the current program path values are the solutions of a second-order differential equation. The laws of change in control voltages are obtained. The results of numerical modeling are presented, confirming the efficiency of the proposed algorithm on the example of a specific manipulator.

Design features of manipulators of a parallel-serial structure based on a tripod are considered. kinematic diagram of a manipulator-tripod on a rotary base is presented, consisting of two series-connected manipulators - a manipulator-tripod of a parallel structure and a manipulator of a serial structure, and its configuration is considered, which is determined by solving an optimization problem from the condition of a minimum criterion of generalized energy. The sequential manipulator acts as a gripper. The number of degrees of freedom of the manipulator is seven. As actuating links, links with electric DC drive (actuators) are used. All actuators are equipped with an integrated analog displacement sensor. In the structure of the manipulator, the axes of the drive links of linear movement geometrically converge at one point by means of a spherical five-movable hinge assembly, which eliminates the appearance of bending moments in them from external loads from the side of the gripping device. The results of the implementation of the algorithm for constructing the service area of a manipulator of a parallel-sequential structure with a grip are presented.

A tripod-based parallel structure manipulator is considered in the article. The movement of the working body from a known position to a given final position is realized by changing the lengths of the tripod end points. Linear links with an electric DC drive are used as end points. The algorithm was developed for the synthesis of the electric motor control voltages when moving the parallel structure manipulator working body based on the tripod from the initial position to the specified final position of the fixed travel time from the minimum criterion characterizing heating of the electric motor. The mathematical model of the manipulator controlled movements is described by linear differential equations of the second order. The static characteristic of the motor is used. The resistance force is taken proportional to the working body movement speed. The problem is solved by the methods of classical calculus of variations. The results of numerical modeling are presented, confirming the effectiveness of the proposed algorithm for determining the working body movement optimal laws.