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Journal of Automation and Information Sciences
SJR: 0.232 SNIP: 0.464 CiteScore™: 0.27

ISSN Imprimir: 1064-2315
ISSN En Línea: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/J Automat Inf Scien.v37.i2.70
pages 55-65

Dynamics of Robot Manipulator with Elastically Flexible Links and Drive Mechanisms

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

SINOPSIS

The mathematical model of dynamics of robot manipulator with elastic links and drive mechanisms was obtained. We stated the problems of dynamic and kinematic control of spatial motions of the system. Numerical example of investigation of dynamics of two-link robot is considered. The results of calculations are shown in comparison with geometrically and physically equivalent model of the robot manipulator with rigid links and elastic drive mechanisms.


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