MODELING IMPACT ON A ONE-LINK FLEXIBLE ROBOTIC ARM

被引：67

作者：

CHAPNIK, BV

HEPPLER, GR

APLEVICH, JD

机构：

[1] UNIV WATERLOO, DEPT SYST DESIGN ENGN, WATERLOO N2L 3G1, ONTARIO, CANADA

[2] UNIV WATERLOO, DEPT ELECT ENGN, WATERLOO N2L 3G1, ONTARIO, CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1991年 / 7卷 / 04期

关键词：

D O I：

10.1109/70.86078

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

A finite-element model of a single-link flexible robotic arm including the effects of beam damping, hub inertia, and both Coulomb and viscous hub friction is derived. The initial conditions required to represent impact loading are determined, and the motion of the arm under impact loading is simulated. Simulation results are compared to experimental data.

引用

页码：479 / 488

页数：10

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