DYNAMIC EQUATIONS IN NATURAL COORDINATES

被引：10

作者：

BRAUCHLI, H ^{[1
]}

WEBER, R ^{[1
]}

机构：

[1] OERLIKON IND,CTR NEW TECHNOL,ZURICH,SWITZERLAND

来源：

COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING | 1991年 / 91卷 / 1-3期

关键词：

D O I：

10.1016/0045-7825(91)90087-M

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

A simple set of equations for the description of a general class of multibody systems is presented. They are as well suited for simulation as for developping the dynamical theory. Applications to inverse dynamics and stability theory are given. The Delta robot of Clavel has been chosen as an example for simulation.

引用

页码：1403 / 1414

页数：12

共 8 条

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[4]

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[5]

Clavel R., 1988, Proceedings of the 18th International Symposium on Industrial Robots, P91

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KAUFMANN, S .

ZEITSCHRIFT FUR ANGEWANDTE MATHEMATIK UND PHYSIK, 1986, 37 (05) :735-753

[7] On the geometry of dynamics [J].

Synge, JL .

PHILOSOPHICAL TRANSACTIONS OF THE ROYAL SOCIETY OF LONDON SERIES A-CONTAINING PAPERS OF A MATHEMATICAL OR PHYSICAL CHARACTER, 1927, 226 :31-106

[8]

UNDA J, 1986, IUTAM IFTOMM S UDINE

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