Journal ArticleDOI
Dynamik von Mehrkörpersystemen mit elastischen Bauteilen
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TLDR
In this paper, a recursive procedure for the determination of the equations of motion of multi-beam-systems is proposed, starting with a one-element system, and the governing differential equations contain the big rigid body motion as well as the superposed elastic deflection, which in comparison can be assumed to be small.Abstract:
In vielen Fallen wird es notwendig, die Bauteilelastizitaten in Mehrkorpersystemen zu berucksichtigen, Beispielsweise bei der Berechnung von leichten und schnellen Industrierobotern. Das Differentialgleichungssystem der Bewegungsgleichungen umfast dann die grosen Starrkorperbewegungen und die relative uberlagerten elastischen Deformationen, die als vergleichsweise klein angenommen werden konnen. Fur die Bestimmung dieser Gleichungen wird, ausgehend von einem Einbalkensystem, fur Mehrkorpersysteme ein rekursives Vorgehen vorgeschlagen.
In many cases it will be necessary to consider the subsystem elasticity within multibody systems, as for instance for the calculation of light and rapid industrial robots. Then, the governing differential equations of motion contain the big rigid body motion as well as the superposed elastic deflection, which in comparison can be assumed to be small. Starting with a one-element-System, a recursive procedure for the determination of the equations of motion of Multi-Beam-Systems is proposed.read more
Citations
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Journal ArticleDOI
The jacodian matrix for a flexble manipulator
TL;DR: This article develops the exact first- order endpoint Jacobian matrix for a general n-degrees of freedom tree-like robot with flexible links and suggests that using only first-order kinematics results in serious errors in the prediction of the beam's curvatures and deformations.
Zur Modellierung und Simulation biomechanischer Mehrkörpersysteme
TL;DR: In this article, the vorliegende Arbeit is durch Problemstellungen motiviert, die im Rahmen des Sonderforschungsbereichs 588 entstanden sind Sie behandelt verschiedene Aspekte der rechnergestutzten Mehrkorperdynamik im Hinblick auf the biomechanische Modellierung.
Book ChapterDOI
Elastic Multibody Theory Applied to Elastic Manipulators
F. Pfeiffer,H. Bremer +1 more
TL;DR: In this article, the authors consider multibody systems with rigid and elastic components and the assumption that any elastic components or couplings generate only small elastic deformations, and then perform a nonlinear gross motion determined by the corresponding system without elasticities superimposed by small elastic deviations and vibrations.
Proceedings ArticleDOI
Path and force control of elastic manipulators
TL;DR: In this article, a manipulator with elastic links and joints is performed by a feed forward and a feedback loop, where the first one contains optimal reference generation including the influence of stationary elastic deviations and the second one includes joint control and active damping of all elastic vibrations.
Journal ArticleDOI
Experiments with flexible manipulators
H. Bremer,Friedrich Pfeiffer +1 more
TL;DR: In this article, an optimal gripper movement for a prescribed path in space or on a given surface including a prescribed force which acts on the gripper is evaluated. But the grippers are not considered.
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