This paper discusses the modeling of serial manipulators with flexible links and joints. The model of a flexible link includes bending in two perpendicular directions and torsion around the longitudinal axis. Second-order strain-displacement relationships, coupled with curvatures as generalized coordinates, are used to represent the foreshortening effect. Then, the dynamic equations are exact to first order in terms of the generalized coordinates associated with the flexible links. These generalized coordinates and their first time-derivatives are assumed to be small (of first order). The model developed captures all the important phenomena, such as stiffening due to the angular speed or buckling due to large payloads. The dynamic equations are developed recursively using Jourdain’s principle to allow an efficient symbolic implementation. The equations associated with the flexible links are reformulated to enable off-line symbolic integration. The gyroscopic effects of motors with reducers are included.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Recursive Modeling of Serial Flexible Manipulators


    Weitere Titelangaben:

    J of Astronaut Sci


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.03.1998


    Format / Umfang :

    24 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Recursive Modeling of Serial Flexible Manipulators

    Piedbaeuf, Jean-Claude | Online Contents | 1998


    Recursive Modeling of Serial Flexible Manipulators

    Pidbœuf, Jean-Claude | Online Contents | 1998



    Singularity Analysis of Serial Robot-Manipulators

    Karger, A. | Online Contents | 1996


    Structural synthesis of serial platform manipulators

    Alizade, Rasim | Online Contents | 2007