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Nonlinear dynamic analysis for elastic robotic arms

โœ Scribed by M. H. Korayem; H. N. Rahimi


Book ID
107378485
Publisher
Springer-Verlag
Year
2011
Tongue
English
Weight
557 KB
Volume
6
Category
Article
ISSN
2095-0233

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In this paper, a method for the dynamic analysis of geometrically nonlinear elastic robot manipulators is presented. Robot arm elasticity is introduced using a finite element method which allows for the gross arm rotations. A shape function which accounts for the combined effects of rotary inertia a