图书馆订阅: Guest
Begell Digital Portal Begell 数字图书馆 电子图书 期刊 参考文献及会议录 研究收集
自动化与信息科学期刊
SJR: 0.232 SNIP: 0.464 CiteScore™: 0.27

ISSN 打印: 1064-2315
ISSN 在线: 2163-9337

卷:
卷 51, 2019 卷 50, 2018 卷 49, 2017 卷 48, 2016 卷 47, 2015 卷 46, 2014 卷 45, 2013 卷 44, 2012 卷 43, 2011 卷 42, 2010 卷 41, 2009 卷 40, 2008 卷 39, 2007 卷 38, 2006 卷 37, 2005 卷 36, 2004 卷 35, 2003 卷 34, 2002 卷 33, 2001 卷 32, 2000 卷 31, 1999 卷 30, 1998 卷 29, 1997 卷 28, 1996

自动化与信息科学期刊

DOI: 10.1615/JAutomatInfScien.v33.i10.50
11 pages

Influence of Elastic and Dissipative Properties of Hinge Joints on Dynamics of Space Manipulator

Tatyana V. Zavrazhina
International Research and Training Center of Information Technologies and Systems of National Academy of Sciences of Ukraine and Ministry of Education and Science of Ukraine, Kiev, Ukraine
Natalya M. Zavrazhina
Kyiv National University of Construction and Architecture, Kyiv, Ukraine

ABSTRACT

Mathematical model of dynamics of a multilink space robot manipulator, considered as a system of many absolutely rigid bodies, is constructed. Elastic compliance and friction in connecting hinges are taken into account. The suggested technique of derivation of the system equations of motion is based on simultaneous application of formalism of Euler-Lagrange and of Lagrange 2nd kind equations. Problems of dynamic and kinematic control of spatial motions of the system are formulated. A numerical example of study of dynamics of a two-link robot is considered.


Articles with similar content:

Numerical-Analytical Approach to the Solution of the Terminal Problem of Optimization
Journal of Automation and Information Sciences, Vol.32, 2000, issue 4
Oleg G. Kovrizhkin, Alexander A. Litvin
The Synthesis of Stabilizing Control of a Rigid Body with Attached Elastic Elements
Journal of Automation and Information Sciences, Vol.34, 2002, issue 11
Alexander Zuyev, Vladimir F. Shcherbak, Alexander M. Kovalev
Computer Simulation for Dynamics of Elastic Multi-link Space Robots-manipulators
Journal of Automation and Information Sciences, Vol.31, 1999, issue 7-9
Tatyana V. Zavrazhina
FOCUSING OF THE QUASAR RADIATION IN THE GRAVITATIONAL FIELD OF A MICROLENS-STAR LOCATED IN A MACROLENS-GALAXY: 1. CONSTRUCTION OF THE SOLUTION BASED ON THE SOBOLEV FORMULA
Radio Physics and Radio Astronomy, Vol.2, 2011, issue 1
A. A. Minakov, L. A. Berdina
Dynamic Control of Plane Motion of Elastic Two-Link Space Manipulation Robot
Journal of Automation and Information Sciences, Vol.31, 1999, issue 1-3
Tatyana V. Zavrazhina, V. I. Gulyaev