Recursive Newton–Euler formulation for flexible dynamic manufacturing analysis of open-loop robotic systems.
Saved in:
| Title: | Recursive Newton–Euler formulation for flexible dynamic manufacturing analysis of open-loop robotic systems. |
|---|---|
| Authors: | Yunn-Lin Hwang1 hwang@nfu.edu.tw |
| Source: | International Journal of Advanced Manufacturing Technology. Jun2006, Vol. 29 Issue 5/6, p598-604. 7p. |
| Subjects: | Recursive programming, Robotics, Flexible manufacturing systems, Algorithms, Rotational motion (Rigid dynamics), Scalar field theory, Matrices (Mathematics), Deformation of surfaces, Deformations (Mechanics) |
| Abstract: | The main objective of this paper is to develop a recursive formulation for the flexible dynamic manufacturing analysis of open-loop robotic systems. The nonlinear generalized Newton–Euler equations are used for flexible bodies that undergo large translational and rotational displacements. These equations are formulated in terms of a set of time invariant scalars, vectors and matrices that depend on the spatial coordinates as well as the assumed displacement fields. These time invariant quantities represent the dynamic manufacturing couplings between the rigid body motion and elastic deformation. This formulation applies recursive procedures with the generalized Newton–Euler equations for flexible bodies to obtain a large, loosely coupled system equation describing motion in flexible manufacturing systems. The techniques used to solve the system equations can be implemented in any computer system. The algorithms presented in this investigation are illustrated using cylindrical joints for open-loop robotic systems, which can be easily extended to revolute, slider and rigid joints. The recursive Newton–Euler formulation developed in this paper is demonstrated with a robotic system using cylindrical mechanical joints. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Advanced Manufacturing Technology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
Be the first to leave a comment!
