A. Meghdari and F. Fahimi. Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion. Journal of Advanced Materials in Engineering (Esteghlal) 1998; 16 (2) :17-28
URL:
http://jame.iut.ac.ir/article-1-105-en.html
Abstract: (4644 Views)
Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagarange's equations and Kane's equation with congruency transformations. Finally, the results obtained from both methods are throroughly compared.
Type of Study:
Research |
Subject:
General Received: 2014/10/25 | Published: 1998/01/15