USE OF SPATIAL VELOCITY IN RECURSIVE DYNAMIC FORMULATION OF A MANIPULATOR DRIVEN BY HARMONIC DRIVES

Authors
LIN TC YAE KH
Citation
Tc. Lin et Kh. Yae, USE OF SPATIAL VELOCITY IN RECURSIVE DYNAMIC FORMULATION OF A MANIPULATOR DRIVEN BY HARMONIC DRIVES, Mechanics of structures and machines, 22(3), 1994, pp. 343-370
Citations number
22
Categorie Soggetti
Mechanics
Journal title
Mechanics of structures and machines → ACNP
ISSN journal
08905452
Volume
22
Issue
3
Year of publication
1994
Pages
343 - 370
Database
ISI
SICI code
0890-5452(1994)22:3<343:UOSVIR>2.0.ZU;2-3
Abstract
The recursive Newton-Euler dynamic formulation is used to derive the e quations of motion of a manipulator with harmonic drives. The derivati on is general, in that the harmonic drive is viewed as a separate body that forms a kinematically closed chain with two contiguous links, le ading to a comprehensive dynamic model. The harmonic drive is modeled as a flexible and rigid gear with a high gear reduction ratio. Under d ifferent modeling assumptions, the effects of gear flexibility and dyn amic coupling are examined using a seven-degree-of-freedom manipulator .