Publicação
Dynamic Simulation of Ninrigid Link Manipulators
| dc.contributor.author | Martins, J. Luiz F. | |
| dc.contributor.author | Machado, J. A. Tenreiro | |
| dc.date.accessioned | 2016-12-14T12:29:21Z | |
| dc.date.available | 2016-12-14T12:29:21Z | |
| dc.date.issued | 1997 | |
| dc.description.abstract | This paper deals with the dynamic simulation of a flexible link robot manipulator. The mechanical structure is composed of flexible links, where each one is composed of several sigid segments connected through rotational joints. these segments are considered actives or passsives. In the passive segments, deflection in one or two planes as well as torsion may be present. These deformations are simulated by the passive joints. the present conception leads to a inverse dynamic system algorithm wih a Newton-Euler recursive numerical formulation, similar to sigid systems. With the adequate manipulation of the input vectors, it is possible to obtain the mass matrix and the vectors that consider the gravitational, Coriolis and centripetal effets. In this way, the algorithm allows the computation of the direct dynamics through the adoption of different numerical integration schemes. For this propose, the Runge-Kutta methods of order two, four and ten are analysed and compared. The system efficiency and its precision are evaluated and, finally, some simulation results are presented. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.isbn | 85-900351-1-5 | |
| dc.identifier.uri | http://hdl.handle.net/10400.22/8808 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | AAC-American Academy of Mechanics Mechanics and ABCM-Associação Brasileira de Ciências Mecânicas | pt_PT |
| dc.subject | Robot manipulator | pt_PT |
| dc.subject | Link manipulator | pt_PT |
| dc.title | Dynamic Simulation of Ninrigid Link Manipulators | pt_PT |
| dc.type | book part | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 8 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | Nonlinear Dynamics, Chaos, Control and Their Applications to Engineering Sciences | pt_PT |
| oaire.citation.volume | 1 | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | bookPart | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |