{"title":"单连杆柔性机械臂的运动学分析","authors":"A. Ata, E. H. Haraz, A. Rizk, S. Hanna","doi":"10.1109/ICIT.2012.6210045","DOIUrl":null,"url":null,"abstract":"The present work investigates the dynamic analysis of a single link flexible manipulator with a tip mass using Tangential Coordinate System (TCS) and the Virtual Link Coordinate System (VLCS). The equations of motion are derived using the extended Hamilton's Principle. A third order polynomial trajectory is designed in the joint space. Numerical analysis is carried out for both types of coordinate systems and the total deflection is compared for both types of the coordinate.","PeriodicalId":365141,"journal":{"name":"2012 IEEE International Conference on Industrial Technology","volume":"87 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Kinematic analysis of a single link flexible manipulator\",\"authors\":\"A. Ata, E. H. Haraz, A. Rizk, S. Hanna\",\"doi\":\"10.1109/ICIT.2012.6210045\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The present work investigates the dynamic analysis of a single link flexible manipulator with a tip mass using Tangential Coordinate System (TCS) and the Virtual Link Coordinate System (VLCS). The equations of motion are derived using the extended Hamilton's Principle. A third order polynomial trajectory is designed in the joint space. Numerical analysis is carried out for both types of coordinate systems and the total deflection is compared for both types of the coordinate.\",\"PeriodicalId\":365141,\"journal\":{\"name\":\"2012 IEEE International Conference on Industrial Technology\",\"volume\":\"87 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-03-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Conference on Industrial Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIT.2012.6210045\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Conference on Industrial Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIT.2012.6210045","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Kinematic analysis of a single link flexible manipulator
The present work investigates the dynamic analysis of a single link flexible manipulator with a tip mass using Tangential Coordinate System (TCS) and the Virtual Link Coordinate System (VLCS). The equations of motion are derived using the extended Hamilton's Principle. A third order polynomial trajectory is designed in the joint space. Numerical analysis is carried out for both types of coordinate systems and the total deflection is compared for both types of the coordinate.
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