| Issue |
MATEC Web Conf.
Volume 241, 2018
International Conference on Structural Nonlinear Dynamics and Diagnosis (CSNDD 2018)
|
|
|---|---|---|
| Article Number | 01008 | |
| Number of page(s) | 4 | |
| DOI | https://doi.org/10.1051/matecconf/201824101008 | |
| Published online | 03 December 2018 | |
Programmed task based motion analysis of robotic systems equipped with flexible links and supports
1
Warsaw University of Technology, 00-665 Warsaw, Nowowiejska 24, Poland
2
University of Bielsko-Biala, 43-309 Bielsko-Biala, Willowa 2, Poland
* Corresponding author: elajarz@meil.pw.edu.pl
The automatic computational procedure to derivate dynamics equations of systems with programmed constraints modified to encompass compliant mechanical components in their structures is discussed in the paper. The dynamics analysis of the compliant manipulator model with a flexible link is presented as an example. The rigid finite element method is used in order to take into account the flexibility of the link. The formalism of joint coordinates and homogeneous transformations are used to describe the manipulator motion.
© The Authors, published by EDP Sciences, 2018
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