ISSN:
1573-2754
Keywords:
multibodies problem
;
dynamic model
;
dynamics of robot
Source:
Springer Online Journal Archives 1860-2000
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
,
Mathematics
,
Physics
Notes:
Abstract In this paper the general dynamical equations were given for multibodies manipulator. The system is a topologic tree structure consisting of arbitrary number of rigid bodies. The hinges allow the rotational and/or translational motion. In consideration of influence of friction the dynamic equations are established by means of Newton-Euler’s method. Further, the equations are separated by way of constructing the distribution matrices and a group of force and motion equations are obtained.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF02457482
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