Digital Library of Zielona Góra contains 9 272 digital objects
Object
Title: Finite element dynamic model of multilink flexible manipulators
Contributor:
Tchoń, Krzysztof - ed. ; Gosiewski, Anatol - ed.
Subtitle:
Mathematical Methods in Robotics
Group publication title:
Abstract:
Lagrange's finite element approach is used to formulate the dynamic model of a flexible manipulator system in the three-dimensional space. All manipulator links are considered as slim beams connected in one d.o.f. frictionless revolute joints. Beam-type finite elements, with interpolating polynomials of degree three and six generalized perturbation coordinates per finite element nodal point, are used for description of the link small displacement field. ; The Denavit-Hartenberg 4 x 4 matrix method is used to describe the flexible manipulator kinematics. Joint and link transformation matrices, describing the transformation of coordinate systems between the ends of the deformed manipulator link, have been applied. The resulting equations of motion take into account a coupling between the rigid body motion and elastic deformations of links.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 5, number 2 (1995) ; click here to follow the link
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1995)
Last modified:
Jul 14, 2025
In our library since:
Sep 21, 2020
Number of object content hits:
190
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64255
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| Edition name | Date |
|---|---|
| Finite element dynamic model of multilink flexible manipulators | Jul 14, 2025 |
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