© Eurosis-eti Spatial Kinematics of Gears in Absolute Coordinates
نویسندگان
چکیده
In this article the description of some types of spatial gear constraints (spur gears, bevel gears, etc.) in absolute coordinates is considered. Instead of the numerical expensive calculation of constraint Jacobian matrix we propose to use the transformed Jacobian matrix, which can be calculated much more efficiently. The proposed methods of description of gear constraints were implemented for the simulation of dynamics of CAD model of KUKA KR 15/2 industrial manipulator.
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