By Topic

Dynamic analysis of robotic manipulators with closed kinematic chains

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
I. Bindzi ; Dept. of Mech. Eng., Laval Univ., Que., Canada ; M. J. Richard ; C. M. Gosselin ; L. Cheng

The dynamic analysis of closed-chain robot manipulators using the vector-network method is presented. This technique arises from the application of fundamental theorems of dynamics along with the exploitation of principles from graph theory. From the orthogonality principle and from the vector network's constitutive equations, differential algebraic equations (DAEs) describing the dynamics of the manipulator with closed kinematic chains are derived. It is shown how the vector-network technique automatically generates the holonomic loop constraint equations. The system's response can then be obtained by any methods dedicated to DAE

Published in:

TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.

Date of Conference:

11-13 Nov 1992