The addendum for the generalized d'Alembert equations of motion

Authors
Zhang, DG
Citation
Dg. Zhang, The addendum for the generalized d'Alembert equations of motion, APP MATH ME, 21(1), 2000, pp. 73-78
Citations number
5
Categorie Soggetti
Mechanical Engineering
Journal title
APPLIED MATHEMATICS AND MECHANICS-ENGLISH EDITION
ISSN journal
02534827 → ACNP
Volume
21
Issue
1
Year of publication
2000
Pages
73 - 78
Database
ISI
SICI code
0253-4827(200001)21:1<73:TAFTGD>2.0.ZU;2-X
Abstract
In this paper, the traditional generalized d' Alembert equations of motion ( G-D) in the field of robot dynamics are extended to the circumstances as follows : 1. Considering the robots not only with rotary joints but also with transla tional joints. 2. Extending the application range of the G-D dynamic equations from the si mple chained robots to the tree-structured robots.