The movement kinematics of manipulator with elastic joints in the curvilinear coordinate system
Journal Title: Հայաստանի գիտությունների ազգային ակադեմիայի տեղեկագիր․ Մեխանիկա - Year 2007, Vol 60, Issue 3
Abstract
Movement kinematics of the multilink manipulator with elastic joints in the curvilinear coordinate system is studied. Within the bounds of the linear theory of elasticity by generalized Lyame matrix general expressions for speed and acceleration of the characteristic points of the links and manipulator handle are received. The received formulas allow to easily determine the kinematics of different constructions of the manipulators with elastic joints in the curvilinear coordinates. As an example movement velocity of a twolink manipulator with one elastic joint is determined in the cylindrical coordinate system.
Authors and Affiliations
A. A. Ghukasyan, H. N. Matshkalyan
Keywords
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- EP ID EP606371
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