MATHEMATICAL-MODELING FOR A CLASS OF FLEXIBLE ROBOT

被引：0
|
作者：
YU, WH
机构：
来源：
APPLIED MATHEMATICAL MODELLING | 1995年 / 19卷 / 09期
关键词：
FLEXIBLE ROBOT; ROBOT WITH 3 DEGREES OF FREEDOM; MATHEMATICAL MODELING; HAMILTONS VARIATIONAL PRINCIPLE; ELASTICITY;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Mathematical modelling for a class of flexible robot with two links and three joints is considered in this paper. Assume that one of the two links is elastic and that the deformation of the elastic link happens along any direction perpendicular to the longitudinal axis of the elastic link. Using the dynamics and Hamilton's variational principle, we deduce that the transverse displacement (deformation) of the elastic link and the revolved angles should satisfy a system that is composed of two elastic partial differential equations of order four and three nonlinear integrodifferential equations.
引用
收藏
页码：537 / 542
页数：6
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