کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
805081 | 905063 | 2007 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A simplified force-based method for the linearization and sensitivity analysis of complex manipulation systems
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this paper a method is proposed to efficiently linearize the geometry of complex multibody systems by exploiting the kinetostatic dualism, i.e. formulating the linearization in terms of the force transmission. In this setting, an algorithm is introduced by which one can perform the linearization of the transmission behavior from any number of geometric parameters to the motion of a six-degree-of-freedom end-effector by applying six unit loads to the end-effector and determining internal forces. Moreover, applications in first-order error analysis, calculation of the stiffness matrix, and calibration of manipulators are proposed. Examples of both serial and fully parallel manipulators are presented.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 42, Issue 11, November 2007, Pages 1445–1461
Journal: Mechanism and Machine Theory - Volume 42, Issue 11, November 2007, Pages 1445–1461
نویسندگان
Andreas Pott, Andrés Kecskeméthy, Manfred Hiller,