DYNAMIC-RESPONSE OF ROBOTIC MANIPULATORS USING MODAL-ANALYSIS

被引：0
|
作者：
SHARAN, AM
KALRA, P
机构：
[1] Faculty of Engineering and Applied Science, Memorial University of Newfoundland, St. John's
来源：
MECHANISM AND MACHINE THEORY | 1994年 / 29卷 / 08期
关键词：
D O I：
10.1016/0094-114X(94)90012-4
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this work, the dynamic analysis of finite element modelled robotic manipulators has been carried out. The non-symmetric system matrices of these manipulators having gross motion, have been diagonalized by using the eigenvectors of the transposed system. The mode-wise torque contributions have been analyzed and also, a numerical iteration method for obtaining the individual modes is explained in detail.
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页码：1233 / 1249
页数：17
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