Affiliation:
1. School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia 30332
Abstract
Nonlinear equations of motion are developed for flexible manipulator arms consisting of rotary joints that connect pairs of flexible links. Kinematics of both the rotary-joint mo tion and the link deformation are described by 4 X 4 trans formation matrices. The link deflection is assumed small so that the link transformation can be composed of summations of assumed link shapes. The resulting equations are pre sented as scalar and 4 X 4 matrix operations ready for pro gramming. The efficiency of this formulation is compared to rigid-link cases reported in the literature.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
469 articles.
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