Network model approach to the analysis of multirigid-body systems
Date
1993
Authors
Tokad, Y.
Editor(s)
Advisor
Supervisor
Co-Advisor
Co-Supervisor
Instructor
Source Title
Dynamics and Control
Print ISSN
0925-4668
Electronic ISSN
Publisher
Kluwer Academic Publishers
Volume
3
Issue
2
Pages
107 - 125
Language
English
Type
Journal Title
Journal ISSN
Volume Title
Series
Abstract
The mathematical model of a rigid body in three dimensional motion developed in [1] is used to formulate the equations of motion for the systems of rigid bodies connected to form a special type of open kinematic chain. In this interconnection pattern of rigid bodies, each rigid body is considered as a 3-port component, and for the sake of generality, initially no constraints are imposed on the joints used to interconnect the rigid bodies. The system is considered as an (m+1)-port component and the corresponding terminal equations are obtained in closed form. As an appliction of these equations, a three-link plane manipulator is considered. © 1993 Kluwer Academic Publishers.