Modelling Flexible Manipulators With Motors at the Joints.
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| Title: | Modelling Flexible Manipulators With Motors at the Joints. |
|---|---|
| Authors: | Bascetta, L., Rocco, P. |
| Source: | Mathematical & Computer Modelling of Dynamical Systems. Jun2002, Vol. 8 Issue 2, p157. 27p. |
| Subjects: | Kinematics of machinery, Links & link-motion, Dynamics, Mathematical models |
| Abstract: | A computationally efficient recursive model of a flexible manipulator withmotors at the joints is described in this paper. The model adopts a mixedEulerian and Lagrangian formulation of the equations of a flexible body andexploits the chained structure of the equations for a serial manipulator.The dynamic effects of the motors at the joints, including gyroscopic terms,are fully taken into account. Symbolic manipulation is used in a newly developedpackage, whose performance in detailed reproduction of the dynamic effectsdue to the interplay between the motors and the flexible links is assessedthrough simulation. A comparison between the complete model and a simplifiedone, where the motors are considered as simple inertias rotating around theirown axis, has been carried out, using both a time domain analysis and a frequencydomain analysis, in order to show the relevance of gyroscopic effects in modellingflexible robots. [ABSTRACT FROM AUTHOR] |
| Copyright of Mathematical & Computer Modelling of Dynamical Systems is the property of Taylor & Francis Ltd 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 |
| FullText | Links: – Type: pdflink Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 7276095 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Modelling Flexible Manipulators With Motors at the Joints. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Bascetta%2C+L%2E%22">Bascetta, L.</searchLink><br /><searchLink fieldCode="AR" term="%22Rocco%2C+P%2E%22">Rocco, P.</searchLink> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Mathematical+%26+Computer+Modelling+of+Dynamical+Systems%22">Mathematical & Computer Modelling of Dynamical Systems</searchLink>. Jun2002, Vol. 8 Issue 2, p157. 27p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Kinematics+of+machinery%22">Kinematics of machinery</searchLink><br /><searchLink fieldCode="DE" term="%22Links+%26+link-motion%22">Links & link-motion</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamics%22">Dynamics</searchLink><br /><searchLink fieldCode="DE" term="%22Mathematical+models%22">Mathematical models</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: A computationally efficient recursive model of a flexible manipulator withmotors at the joints is described in this paper. The model adopts a mixedEulerian and Lagrangian formulation of the equations of a flexible body andexploits the chained structure of the equations for a serial manipulator.The dynamic effects of the motors at the joints, including gyroscopic terms,are fully taken into account. Symbolic manipulation is used in a newly developedpackage, whose performance in detailed reproduction of the dynamic effectsdue to the interplay between the motors and the flexible links is assessedthrough simulation. A comparison between the complete model and a simplifiedone, where the motors are considered as simple inertias rotating around theirown axis, has been carried out, using both a time domain analysis and a frequencydomain analysis, in order to show the relevance of gyroscopic effects in modellingflexible robots. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Mathematical & Computer Modelling of Dynamical Systems is the property of Taylor & Francis Ltd 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.</i> (Copyright applies to all Abstracts.) |
| PLink | https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=7276095 |
| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1076/mcmd.8.2.157.8593 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 27 StartPage: 157 Subjects: – SubjectFull: Kinematics of machinery Type: general – SubjectFull: Links & link-motion Type: general – SubjectFull: Dynamics Type: general – SubjectFull: Mathematical models Type: general Titles: – TitleFull: Modelling Flexible Manipulators With Motors at the Joints. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Bascetta, L. – PersonEntity: Name: NameFull: Rocco, P. IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 06 Text: Jun2002 Type: published Y: 2002 Identifiers: – Type: issn-print Value: 13873954 Numbering: – Type: volume Value: 8 – Type: issue Value: 2 Titles: – TitleFull: Mathematical & Computer Modelling of Dynamical Systems Type: main |
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