The purpose of this paper is a theoretical study of the positioning accuracy of the end part of the developed flexible manipulator. The research was carried out on the basis of its computer and physical models. In the process of computer modelling with the use of Matlab Robotics Toolbox software environment and on the basis of the developed physical model, the principles of determining the position of the end part of a flexible manipulator at known tilt angles of links were set up, taking into account that the geometric dimensions of the models were identical. The results of modelling are presented in the graphs of the coordinate comparison. Based on the results of experiments, we can conclude that, in order to achieve high accuracy of positioning of the end part of a flexible manipulator, it is recommended to avoid the use of cardan joints between the links, or to choose cardan mechanisms with reduced free travel.

In article construction of the flexible manipulator is considered and the method of calculation of its mathematical model is described. Formulas for calculations are given. The purpose of development of a mathematical model is improving governance and possibility of simulation of movement of the flexible manipulator

This article discusses methods to improve the efficiency of the control of flexible manipulators. The article presents the analysis of the conducted research aimed at addressing the problems of positioning of flexible manipulators. The necessity of applying the basics of mechatronics for the development of manipulators that are used for flexible joints

Flexible manipulators are a promising executive tool in various technological complexes. In the process of collecting fruits, they can, in addition to their main task of delivering working bodies to the object of labor, also perform the functions of flexible guides. For the use of flexible manipulators in agriculture, namely in the operations of harvesting apples, developments are needed that are relatively cheap to manufacture in comparison with other flexible manipulators. To analyze the efficiency of apple picking using a flexible manipulator, a series of tests was carried out. As part of the tests, the process of picking apples was simulated using a flexible manipulator. The number of apples harvested for branches of various geometries was estimated. Within the framework of the discussion, the prospects of introducing a flexible manipulator in super-intensive gardens in Russia were assessed.