NDLI: Simulation of constraints by compliant joints

Content Provider	Springer Nature Link
Author	Pogorelov, D. Yu.
Copyright Year	2011
Abstract	Application of models of compliant (flexible) joints instead of constraint equations for systems with closed-loop kinematic chains is considered; this makes it possible to replace differential-algebraic motion equations by stiff ordinary differential equations. For substantiation of this replacement, methods of analysis of singularly perturbed equations are used. Examples of mathematical models of compliant joints and expressions for approximate Jacobian matrices corresponding to these force interactions are given. Numerical solutions of direct and inverse dynamics equations for a number of controlled mechanisms are used for testing the method and its program realization.
Starting Page	158
Ending Page	173
Page Count	16
File Format	PDF
ISSN	10642307
Journal	Journal of Computer and Systems Sciences International
Volume Number	50
Issue Number	1
e-ISSN	15556530
Language	English
Publisher	SP MAIK Nauka/Interperiodica
Publisher Date	2011-03-07
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Applied Mathematics Theoretical Computer Science Computer Networks and Communications Control and Systems Engineering Information Systems Computer Vision and Pattern Recognition Software

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Simulation of constraints by compliant joints