DocumentCode
3338365
Title
A new approach to the dynamic models of robot manipulators with closed kinematic chains
Author
Wang, Shih-Liang
Author_Institution
Dept. of Mech. Eng., North Carolina A&T State Univ., Greensboro, NC, USA
fYear
1991
fDate
19-22 June 1991
Firstpage
1810
Abstract
An effective way to formulate the dynamic model of a robot with a closed kinematic chain is introduced in this paper. Joint variables of the linkage´s passive joints are eliminated by loop closure equations and a dynamic model similar to that of a serial link robot can be obtained by the work and energy method. The new approach applies to planar or spatial linkages, and the systematic derivation of the dynamic model can be executed by a symbolic mathematic software package.<>
Keywords
kinematics; robots; closed kinematic chains; dynamic models; linkage passive joint variables; loop closure equations; robot manipulators; serial link robot; symbolic mathematic software package; Belts; Couplings; Elbow; Gears; Kinematics; Kinetic energy; Manipulator dynamics; Nonlinear equations; Parallel robots; Tensile stress;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240440
Filename
240440
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