Zhao Yu-shan, Gu Liang-xian. Generalized Dynamic Model for Multibodies Manipulator[J]. Applied Mathematics and Mechanics, 1993, 14(9): 829-833.
Citation: Zhao Yu-shan, Gu Liang-xian. Generalized Dynamic Model for Multibodies Manipulator[J]. Applied Mathematics and Mechanics, 1993, 14(9): 829-833.

Generalized Dynamic Model for Multibodies Manipulator

  • Received Date: 1991-11-25
  • Publish Date: 1993-09-15
  • In this paper the general dynamical equations were given for multibodies manipulator. The system is a topologic tree structure consisting of arbitrary number of rigid bodies. The hinges allow the rotational and/or tranlalional motion. In consideration of influence of friction the dynamic equations are established by means of Newton-Euler's method. Further, the equations are separated by way of constructing the distribution matrices and a group of force and motion equations are obtained.
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    Kane,T.R.and D.A.Levinson,The use of Kane's dynamical equations in robotics,The International Journal of Roboties Research,2,3(1983),3-21.
    [2]
    Silver,W.M.,On the equivalence of Lagrangian and Newton-Euler dynamics for Manipulators,The International Journal of Roboties Research,1,2(1982),60-70.
    [3]
    周起钊,树形多刚体系统的动力学普遍方程,力学学报,3(1973),267-277.
    [4]
    Schielen,W.,Generalized constraint forces in ordinary multibody systems,Preprint 14th Yugoslav Congress Rational Applied Mechanics,C3-16,Beograd(1978),301-308.
    [5]
    Wittenburg J.,Dynamics of Systems of Rigid Bodies,B.G.Teubner Stuttgart,(1977).
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