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A Convective Description of Flexible Robot Dynamics

[+] Author Affiliations
Daniel Franitza

Gerhard Mercator University of Duisburg, Duisburg, Germany

Paper No. IMECE2002-32486, pp. 1037-1042; 6 pages
doi:10.1115/IMECE2002-32486
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-3629-0 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

This paper describes a theory for dynamics simulation of non-linear elastically deformable mechanisms as a basis for compliant manipulators. The description of the mechanical structure based on local coordinates in a convective metric for one-dimensional structures is introduced. Besides the quasi-static case, loads related to mass inertial terms are taken into consideration. This changes the original first order set of linear differential equations into non-linear second order partial differential equations. Some numerical aspects for the generation of a solution for the initial boundary value problem described are discussed.

Copyright © 2002 by ASME

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