Document Details

Document Type : Article In Journal 
Document Title :
A General Multi-Rigid Body Dynamic Modeling Procedure Applied to a Three Axes Mixed-Loop Base Driven Robot
طريقة عامة لتمثيل ديناميكا النظم متععدة الأجسام الصلبة مع التطبيق على ذراع آلي ثلاثي المحاور وذوي نظام قيادة مثبت على القاعدة
 
Subject : Original Works 
Document Language : English 
Abstract : This paper introduces a generaJ procedure for modeling the dynamic behavior of multi-rigid body systems having kinematic constraints between their various elements. This procedure is based on the principle of virtual work. Two sets of varying parameters are generated for the description of the kinematics of the system. These two sets are: The dependent and the independent coordinates. A set of constraint equations relates the two sets of coordi· nates. The virtual work principle is derived for the complete system using the dependent set of coordinates. The coordinate variation are related by the constraint equations leading to a reduced system of equations using only the selected independent degrees of freedom of the system.This procedure simplifies the modeling of large multi-rigid body systems subjected to kinematic constraints. This simplification in the procedure does not result in an increase in the number of equations of motion that defines the system's dynamics. A detailed numerical example. in which the features of the modeling procedure are emphasized, is presented. This numerical example introduces a spatial mixed loop robot with the unique feature of having all the driving motors fixed to the base of the robot. 
ISSN : 1319-1047 
Journal Name : Engineering Sciences Journal 
Volume : 10 
Issue Number : 1 
Publishing Year : 1418 AH
1998 AD 
Number Of Pages : 18 
Article Type : Article 
Added Date : Sunday, October 11, 2009 

Researchers

Researcher Name (Arabic)Researcher Name (English)Researcher TypeDr GradeEmail
محمد ح. ف. دادوMOHAMMAD H. F. DADOResearcher  

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