Fast moving flexible robot dynamics

摘要

Flexible gear-link combinations are considered for robot subsystem computation. In order to allwo arbitrary robot design, basic motion of considered subsystem has to remain unrestricted, leading to the use of nonholonomic velocities. Its treatment via analytical methods is tedious. Therefore, a special technique for the applications of projetion equations is recommended, yielding immediately the partial differential equations. A Ritz approach is used in he sequel. Special attention is thereby given to the determination of 2nd order displacement fields which are needed for correct (partial) linearization.