EULER-BERNOULLI EQUATION BASED ON THE KNOWLEDGE OF THE CLASSICAL DYNAMICS

摘要

This work gives us the unique and completely new access in the analysis of combined elastic system of robots that are in contact with dynamic environment, based on published, accessible papers. The special attention is devoted to the dynamics and kinematics of movement of elastic link in the frame of robotics configuration in this paper. The Euler-Bernoulli equation should be supplemented with all the forces that are participating in the formation of the elasticity moment of the considered mode. The kinematic model of system (direct and inverse model) is created involving new definition of Denavit-Hartenbergs parameters. We presented the analogue between the Euler-Bernoulli equation solutions which were defined by Daniel Bernoulli and the procedure of the "direct kinematics" and "inverse kinematics" solutions in the Robotics. Based on results of simulation analyses we demonstrate that with this new proposed procedure of analysis of complex flexible robotic systems practicality it isn't important how much robotic system is complex or flexible, because these are characteristics included in "kinematics " and dynamic model.