Dynamics of manipulation mechanisms with constrained gripper motion. Part I

摘要

AbstractThis article deals with the dynamics of closed kinematic chains obtained from open ones by introducing some constraints upon the motion of the last segment. Such problems apear very often in practical manipulator operation (writing task, assembling, etc.). The reduced position vector is defined and the dynamic model formed so as to allow the calculation of both the relative motion with respect to the constraint and the reactions, of the constraint. Impact problems are discussed also. Finally, a surface‐type constraint is considere