Linearization of dynamic equations of flexible mechanisms—a finite element approach
نویسندگان
چکیده
منابع مشابه
Linearization of Dynamic Equations of Flexible Mechanisms-a Finite Element Approach
A finite element based method is presented for evaluation of linearized dynamic equations of flexible mechanisms about a nominal trajectory. The coefficient matrices of the linearized equations of motion are evaluated as explicit analytical expressions involving mixed sets of generalized co-ordinates of the mechanism with rigid links and deformation mode co-ordinates that characterize deformati...
متن کاملMaximum Allowable Dynamic Load of Flexible 2-Link Mobile Manipulators Using Finite Element Approach
In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...
متن کاملDynamic Load Carrying Capacity of Mobile-Base Flexible-Link Manipulators: Feedback Linearization Control Approach
This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...
متن کاملDynamic Load Carrying Capacity of Flexible Manipulators Using Finite Element Method and Pontryagin’s Minimum Principle
In this paper, finding Dynamic Load Carrying Capacity (DLCC) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. The finite element method was employed for modelling and deriving the dynamic equations of the system. The study employed indirect solution of optimal control for system motion planning. Due to offline nature of the method, many diffic...
متن کاملthe role of application of dynamic assessment approach in improvement of iranian efl writing performance at different language proficiency levels
the present study sought to investigate the role of dynamic assessment (da) in improvement of iranian efl writing performance at different language proficiency levels. to this end, after conducting the quick placement test, 60 iranian efl learners were assigned to two groups with different language proficiency levels. in both groups each participant wrote two compositions, one before and one af...
ذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal for Numerical Methods in Engineering
سال: 1991
ISSN: 0029-5981,1097-0207
DOI: 10.1002/nme.1620310710