Generalized Dynamic Model for Multibodies Manipulator

Zhao Yu-shan; Gu Liang-xian

Volume 14 Issue 9

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Article Navigation > Applied Mathematics and Mechanics > 1993 > 14(9): 829-833

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.

Citation:

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

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Generalized Dynamic Model for Multibodies Manipulator

North-western Polytechnical University, Xi'an

Received Date: 1991-11-25
Publish Date: 1993-09-15

Abstract

Abstract

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.
- multibodies problem,
- dynamic model,
- dynamics of robot

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References(5)

References

[1]	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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