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An Application of 2d Rigid Link Theory in Flexible Link Manipulator:

By Mahesh A. Makwana and Arvind N. Nakiya

Abstract

ABSTRACT: This paper presents kinematic and dynamic modeling techniques for flexible robots.. The main emphasis is to discretize whole flexible link in very small parts each considering as a rigid link. This approach is based on a “discretization method”. In kinematics position or deflection is solved by deflection of cantilever beam theory while orientation is solved by forward kinematics. Dynamics is solved by applying Lagrange-Euler formulation

Topics: Discretization, Dynamics, Flexible link manipulator (FLM, Kinematics, Rigid link manipulator
Year: 2014
OAI identifier: oai:CiteSeerX.psu:10.1.1.417.1681
Provided by: CiteSeerX
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