Volume 12, Issue 3 (8-2012)
Modares Mechanical Engineering 2012, 12(3): 1-10 |
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Habibnejad Korayem M, shafei A. Application of Recursive Gibbs-Appell Formulation in Deriving the Motion Equation of Revolute-Prismatic Joints. Modares Mechanical Engineering 2012; 12 (3) :1-10
URL: http://mme.modares.ac.ir/article-15-1242-en.html
URL: http://mme.modares.ac.ir/article-15-1242-en.html
1- Professor of Mechanical Engineering of Iran University of Science and Technology
2- Ph.D Candidate of mechanical engineering of Iran University of Science and Technology (IUST)
2- Ph.D Candidate of mechanical engineering of Iran University of Science and Technology (IUST)
Abstract: (7574 Views)
The equation of Motion by Gibbs - Appell formulation has been used the least for deriving the dynamic equations of manipulator robots. So, in this paper a new systematic method for deriving the equation of motion of n - rigid robotic manipulators with revolute - prismatic joints (R - P - J) is considered. The equation of motion for this robotic system is obtained based on (G - A) formulation. All the mathematical operations are done by only 3×3 and 3×1 matrices. Also, all dynamic characteristics of a link are expressed in the same link local coordinate system. Based on the developed formulation, an algorithm is proposed that recursively and systematically derives the equation of motion. Finally, a computational simulation for a manipulator with three (R - P - J) is presented to show the ability of this algorithm in deriving and solving high degree of freedom of robotic system.
Article Type: Research Article |
Subject:
robatic
Received: 2012/02/15 | Accepted: 2012/04/24 | Published: 2012/08/22
Received: 2012/02/15 | Accepted: 2012/04/24 | Published: 2012/08/22
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