Volume 16, Issue 2 (1-1998)
1998, 16(2): 17-28 |
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A. Meghdari and F. Fahimi. Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion. Computational Methods in Engineering 1998; 16 (2) :17-28
URL: http://jcme.iut.ac.ir/article-1-105-en.html
URL: http://jcme.iut.ac.ir/article-1-105-en.html
Abstract: (3383 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 Lagaranges equations and Kanes equation with congruency transformations. Finally, the results obtained from both methods are throroughly compared.
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