Journal ArticleDOI
Elastodynamic analysis of multibody systems and parametric mass matrix derivation
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One important aspect of the dynamic performance evaluation of a parallel manipulator is the elastodynamic analysis which calls for the calculation of the stiffness and mass matrices.Abstract:
One important aspect of the dynamic performance evaluation of a parallel manipulator is the elastodynamic analysis which calls for the calculation of the stiffness and mass matrices. In the elastod...read more
Citations
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Journal ArticleDOI
Finite Element Method-Based Elastic Analysis of Multibody Systems. A Review
TL;DR: In this paper , the main analytical methods, in the context of current developments in the study of complex multibody systems, to obtain evolution equations for a multi-body system with deformable elements are presented.
References
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Book
Fundamentals of Robotic Mechanical Systems
TL;DR: This book deals with robots-such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools-that rely on mechanical systems to perform their tasks and aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based.
Journal ArticleDOI
Transfer matrix method for linear multibody system
TL;DR: In this article, a transfer matrix method of linear multibody system (MSTMM) is proposed to solve the eigenvalue problem of linear hybrid multi-body systems.
Proceedings ArticleDOI
Dynamic modelling and mass matrix evaluation of the DELTA parallel robot for axes decoupling control
TL;DR: An efficient method based on the direct application of the virtual work principle has the advantage of providing explicitly the mass matrix of the robot, which can be used in the control algorithm for axes decoupling.
Journal ArticleDOI
Fundamentals of manipulator stiffness modeling using matrix structural analysis
TL;DR: This paper generalizes existing contributions to the stiffness modeling of robotic manipulators using Matrix Structural Analysis and presents a unified and systematic approach that is suitable for serial, parallel and hybrid architectures containing closed-loops, flexible links, and rigid connections, passive and elastic joints, flexible and rigid platforms, taking into account external loadings and preloadings.
Journal ArticleDOI
Modeling of a Fully Flexible 3PRS Manipulator for Vibration Analysis
TL;DR: In this paper, the authors provide a vibration analysis model and the modeling method for a fully flexible 3-Parallel-Revolute-joint-and-Spherical-Joint (3PRS) manipulator with flexible links and joints.