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Numerical Simulation of Mechanisms and Manipulator Robots with Flexible Links andFlexible Joints

机译：具有柔性连杆和柔性连接的机构和机械手机器人的数值模拟

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This thesis deals with numerical simulation of mechanical systems like mechanismsand manipulator robots. The mechanical system may be considered in a two or three dimensional space, may have electrical machines, and may contain flexible links and flexible joints. Methods and algorithms to perform static analysis, kinematic analysis, dynamic analysis, linearization of nonlinear systems, periodic solution of periodically forced systems and control simulation of robots have been applied. A finite element method is used to get the mathematical model for a

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作者
Gong, D.;
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年度 1995
页码 p.1-146
总页数 146
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Simulation; Mechanical devices; Robots; Manipulators; Robotics; Flexibility; Computer aided design; Robot dynamics; Software engineering; Electric machinery; Dynamic tests; Robot control; Theses;

机译：仿真;机械设备;机器人;机器人;机器人;灵活性;计算机辅助设计;机器人动力学;软件工程;电机;动态测试;机器人控制;论文;

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专利

1. A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links [J] . Ashish Mohan, S. K. Saha Multibody System Dynamics . 2009,第1期

机译：具有灵活链接的串行机器人的递归，数值稳定和高效的仿真算法
2. A recursive, numerically stable, and efficient simulation algorithm for serial robots with flexible links [J] . Ashish Mohan, S.K. Saha Multibody system dynamics . 2009,第1期

机译：具有灵活链接的串行机器人的递归，数值稳定和高效的仿真算法
3. Dynamics of Robot Manipulator with Elastically Flexible Links and Drive Mechanisms [J] . T.V. ZAVRAZHINA Journal of automation and information sciences . 2005,第1a2期

机译：具有弹性柔性连杆和驱动机构的机器人机械手的动力学
4. Joint trajectory tracking for planar multi-link flexible manipulator: simulation and experiment for a two-link flexible manipulator [C] . Benosman, M., Le Vey, Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on . 2002

机译：平面多连杆柔性机械臂的联合轨迹跟踪：两连杆柔性机械臂的仿真与实验
5. Dynamic analysis and position control of a single flexible-link flexible-joint robot manipulator using time delay. [D] . Dong, Yuan. 2006

机译：使用时滞的单个柔性链接柔性关节机器人机械手的动态分析和位置控制。
6. Development of Torque Sensor with High Sensitivity for Joint of Robot Manipulator Using 4-Bar Linkage Shape [O] . Hong-Xia Zhang, Young-Jae Ryoo, Kyung-Seok Byun 2016

机译：基于四连杆机构形状的机器人机械手关节高灵敏度扭矩传感器的开发
7. Dynamic Modeling and Simulation of a Rotating Single Link Flexible Robotic Manipulator Subject to Quick Stops [O] . Dupac Mihai, Noroozi Siamak 2014

机译：具有快速停止功能的旋转单连杆柔性机器人机械手的动力学建模和仿真

Numerical Simulation of Mechanisms and Manipulator Robots with Flexible Links andFlexible Joints

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