| contributor author | T. Kakizaki | |
| contributor author | J. F. Deck | |
| contributor author | S. Dubowsky | |
| date accessioned | 2017-05-08T23:42:00Z | |
| date available | 2017-05-08T23:42:00Z | |
| date copyright | December, 1993 | |
| date issued | 1993 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27611#839_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/112308 | |
| description abstract | A dynamic modeling method is presented for spatial elastic manipulators that can account for a number of their realistic properties, including bearing clearances, actuator dynamics, and control system characteristics. Forces in the bearing clearances are modeled by nonlinear functions of the links’ relative motions and the internal geometry of the connection, or by experimentally measured properties. A detailed model is given for a revolute connection with radial and axial clearances. Results obtained for a SCARA manipulator show that the combined dynamic effects of bearing clearances, link elasticity, and control system characteristics can significantly degrade the system’s performance. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Modeling the Spatial Dynamics of Robotic Manipulators with Flexible Links and Joint Clearances | |
| type | Journal Paper | |
| journal volume | 115 | |
| journal issue | 4 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2919277 | |
| journal fristpage | 839 | |
| journal lastpage | 847 | |
| identifier eissn | 1528-9001 | |
| keywords | Dynamics (Mechanics) | |
| keywords | Modeling AND Manipulators | |
| tree | Journal of Mechanical Design:;1993:;volume( 115 ):;issue: 004 | |
| contenttype | Fulltext | |
