A STRUCTURAL FLEXIBILITY TRANSFORMATION
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N.G. Chalhoub; L. Chen
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Article
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1998
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Elsevier Science
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English
⚖ 262 KB
A general approach to systematically derive the equations of motion of flexible open-kinematic chains is presented in this paper. The methodology exploits the serial characteristic of the kinematic chain by complementing the 4 × 4 Denavit-Hartenberg transformation matrix with a 4 × 4 structural flex