Abstract：On the basis of Newton-Eulcr's equation and Timoshenko's theory of elasticity, this paper presentsGalerkin's variational method to the kineto-clastic dynamics modeling of a spatial robot. This model comprehensively allows for the influences of all deformations (tensile, shear, bent. twist), distributed mass,centralized mass and the coupling effect between rigid body's motion and clastic vibration.
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