An efficient finite element formulation of dynamics for a flexible robot with different type of joints
نویسندگان
چکیده
منابع مشابه
Development of a Finite Element Methodology for Flexible Track Models in Railway Dynamics Applications
The dynamic analysis of railway vehicles involves the construction of three independent models: the vehicle model; the track model; and the wheel-rail contact model. In this work, a multibody formulation with Cartesian coordinates is used to describe the kinematic structure of the rigid bodies and joints that constitute the vehicle model. A methodology is also proposed in order to create detail...
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Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion
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 ...
متن کاملModeling a Robot with Flexible Joints and Decoupling its Equations of Motion
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 throroughl...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2019
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2018.12.026