On two Approaches to Research of Kinematics of Elastic Manipulators
Journal Title: Հայաստանի գիտությունների ազգային ակադեմիայի տեղեկագիր․ Մեխանիկա - Year 2015, Vol 68, Issue 2
Abstract
In different coordinate system the kinematics of motion of multilayer elastic manipulator is investigated. It is supposed that the links of matipulators are modeling as elastic bars and connecting points between links contain elastic elements of large rigidity. In general case with the application of linear theory of elasticity the formulas determining the kinematic correlation both for Cartesian coordinate system and curvilinear coordinate system are received.The kinematic correlation (position of character points, their velocity and motion acceleration) are presented in the form of a sum of three component which are characterise the kinematics of motion of manipulator both as absolutely rigidity links and ideal connection links as well as with elastic junctions and elastic links. Obtained correlations at Cartesian coordinates depend on generalized coordinates determined the configuration and elastic features of manipulator and in the curvilinear coordinate system – also from Lamé coefficient. In particular cases it is possible to compare the methods and results of investigations.
Authors and Affiliations
Artush Ghukasyan
Keywords
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