Modeling of Spatial Robotic Manipulators with Flexible Links and Revolute Clearance Joints.
نویسندگان
چکیده
منابع مشابه
Revolute joints with clearance in multibody systems
A computational methodology for dynamic analysis of multibody mechanical systems with joint clearance is presented in this work. Clearances always exist in real joints in order to ensure the correct relative motion between the connected bodies being the gap associated to them a result of machining tolerance, wear, and local deformations. Clearance at different joints is the source for impact fo...
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The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on Lagrangianassumed modes formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations are organized in a form similar to rigid manipulator equations. ...
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This paper addresses the problem of determining the singularity loci of 3-DOF planar parallel manipulators with revolute joints for a constant orientation of the mobile platform. The case when the base joints are actuated is of primary concern and is proved here to lead to singularity loci represented by curves of degree 42—an improved measure with respect to the one already given in the litera...
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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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This paper suggests a simple yet efficient experimental method to record the displacement of the shaft in a revolute joint with clearance. Two light and compliant cantilevers have been mounted on the rocker, each being instrumented with two strain gauges which can measure bending. These cantilevers are mounted in an orthogonal fashion, near the axis of the revolute joint, each touching the shaf...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1991
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.57.1961