Оn the kinematics of multilink manipulator motion with elastic connecting nodes and elastic links
Journal Title: Հայաստանի գիտությունների ազգային ակադեմիայի տեղեկագիր․ Մեխանիկա - Year 2014, Vol 67, Issue 3
Abstract
On the basis of mathematical model of elastic multilink manipulator the kinematics of spatial motion is investigated. Тhe case when both the links and connecting nodes between links of manipulator are elastic is considered. Introduced three groups of generalized coordinates that define the spatial positions of the characteristic points of the manipulator and the configuration during movement. Assuming that the generalized coordinates describing the elastic properties of the manipulator are small the kinematic relationships are defined in the framework of linear theory of elasticity. The formula (expressions) that оbtained in general case are used to investigate the kinematics of movment of two-link manipulator on a movable base. The manipulator has three degrees of freedom, the second link is inextensible elastic rod, and the connecting nodes contain the elastic elements.
Authors and Affiliations
Artush Ghukasyan
Keywords
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