GALERKIN'S VARIATION APPROACH TO THE KINETO-ELASTIC DYNAMICS MODELING OF ROBOT

GAO Zhenxin, LIU Tingrong, YANG Guimao. GALERKIN'S VARIATION APPROACH TO THE KINETO-ELASTIC DYNAMICS MODELING OF ROBOT[J]. ROBOT, 1991, 13(6): 15-21.

Citation:

GAO Zhenxin, LIU Tingrong, YANG Guimao. GALERKIN'S VARIATION APPROACH TO THE KINETO-ELASTIC DYNAMICS MODELING OF ROBOT[J]. ROBOT, 1991, 13(6): 15-21.

Citation:

GAO Zhenxin, LIU Tingrong, YANG Guimao. GALERKIN'S VARIATION APPROACH TO THE KINETO-ELASTIC DYNAMICS MODELING OF ROBOT[J]. ROBOT, 1991, 13(6): 15-21.

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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