Modeling of Flexible Manipulators Using Virtual Rigid Links and Passive Joints
نویسندگان
چکیده
منابع مشابه
Enhanced stiffness modeling of manipulators with passive joints
The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a rel...
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The chapter focuses on the enhanced stiffness modeling and analysis of serial kinematic chains with passive joints, which are widely used in parallel robotic systems. In contrast to previous works, the stiffness is evaluated for the loaded working mode corresponding to the static equilibrium of the elastic forces and the external wrench acting upon the manipulator end point. It is assumed that ...
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The axially translating flexible link in flexible manipulators with a prismatic joint can be modeled using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, we present a nondimensional form of the Euler-Bernoulli beam equation using the concept of g...
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The problem of the control of cooperative manipulators with passive joints and rigidly connected to a solid object is addressed in this paper. Passive joints can appear due to free-swinging joint failures or can be an intrinsic characteristic of the robots. A hybrid control of motion and squeeze force is proposed. For this purpose, a Jacobian matrix relating velocities in the actuated joints an...
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Physics-based multibody simulations have a wide range of applications. In order to be capable of analyzing complex problem formulations, e.g. the motion of the human skeleton, joints are a necessary requirement for multibody simulation frameworks. The major focus of this thesis lies on the development and implementation of a general scheme to integrate joint motion constraints into the pe frame...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1991
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.27.1389