A comparative study of elastic motions in trajectory tracking of flexible RPR planar manipulators moving with high speed

Amirhossein Eshaghiyeh Firoozabadi
Amirhossein Eshaghiyeh Firoozabadi

ROBOTICA, pp. 1523-1540, 2017.

Cited by: 3|Views3
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Abstract:

The study of inertial forces effects at high speeds in flexible parallel manipulators, which generate undesired deviations, is a challenging task due to the coupled and complicated equations of motion. A dynamic model of the Revolute Prismatic Revolute (RPR) planar manipulators (specifically 3-RPR, 2-RPR and 1-RPR) with flexible intermedi...More

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