Systematic dynamic modelling of mechanical systems containing kinematic loops

DOI10.1080/13873959608837039MaRDI QIDQ5691427zbMATH OpenOpenAlexFDO

Authors

Publication date 11 March 1997

Published in Mathematical Modelling of Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/13873959608837039

zbMATH Keywords

differential-algebraic equation systemdynamic model of general tree structureexplicit solution of constraint equationsgear couplingsgeneralized coordinateshorizontal double pendulumindex reduction methodskinematic description of tree structuresLagrange multipliers methodnumerical integrationopen loop structureordinary differential equation systemplanar closed chainssingularities

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Kinematics of mechanisms and robots (70B15) General models, approaches, and methods in mechanics of particles and systems (70G99)

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(7)

• Dynamic modeling of geared robotic mechanisms -- the virtual link approach.
• Modeling and simulation of robotic systems with closed kinematic chains using the virtual spring approach
• CLOSED-LOOP AND CONSTRAINED MECHANICAL SYSTEMS
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Describes a project that uses

Uses Software

• DASSL

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