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Faculty of Engineering
Document Details
Document Type
:
Article In Journal
Document Title
:
A General Multi-Rigid Body Dynamic Modeling Procedure Applied to a Three Axes Mixed-Loop Base Driven Robot
طريقة عامة لتمثيل ديناميكا النظم متععدة الأجسام الصلبة مع التطبيق على ذراع آلي ثلاثي المحاور وذوي نظام قيادة مثبت على القاعدة
Subject
:
Mechanical Engineering
Document Language
:
English
Abstract
:
This paper introduces a generaJ procedure for modeling the dynamic behavior of multi-rigid body systems having kinematic constraints between their various elements. This procedure is based on the principle of virtual work. Two sets of varying parameters are generated for the description of the kinematics of the system. These two sets are: The dependent and the independent coordinates. A set of constraint equations relates the two sets of coordi· nates. The virtual work principle is derived for the complete system using the dependent set of coordinates. The coordinate variation are related by the constraint equations leading to a reduced system of equations using only the selected independent degrees of freedom of the system.This procedure simplifies the modeling of large multi-rigid body systems subjected to kinematic constraints. This simplification in the procedure does not result in an increase in the number of equations of motion that defines the system's dynamics. A detailed numerical example. in which the features of the modeling procedure are emphasized, is presented. This numerical example introduces a spatial mixed loop robot with the unique feature of having all the driving motors fixed to the base of the robot.
ISSN
:
1319-1047
Journal Name
:
Engineering Sciences Journal
Volume
:
10
Issue Number
:
1
Publishing Year
:
1418 AH
1998 AD
Article Type
:
Article
Added Date
:
Thursday, January 14, 2010
Researchers
Researcher Name (Arabic)
Researcher Name (English)
Researcher Type
Dr Grade
Email
محمد ح دادو
DADO, MOHAMMAD H
Researcher
Doctorate
Files
File Name
Type
Description
24822.pdf
pdf
A General Multi-Rigid Body Dynamic Modeling Procedure Applied to a Three Axes Mixed-Loop Base Driven Robot
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