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Dynamical model for a plane manipulator with rotary kinematic couples and rigid links

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Abstract

A system of differential equations is obtained for an N-link plane manipulator with rotary kinematic couples. The problem of the optimal design of manipulators with hydraulically driven links is considered. The optimal parameters of the mechanism are computed for a specific example.

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Literature cited

  1. D. Ahlberg, E. Nilson, and J. Walsh, Theory of Splines and Their Applications [Russian translation], Moscow (1972).

  2. V. S. Medvedev, A. G. Leskov, and A. S. Yushchenko, Control Systems for Manipulating Robots [in Russian], Moscow (1978).

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Authors and Affiliations

  1. Institute of Mechanics, Academy of Sciences of the Ukrainian SSR, Kiev

    T. L. Reva & V. M. Roman

Authors
  1. T. L. Reva
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  2. V. M. Roman
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Translated fromVychislitel'naya i Prikladnaya Matematika, No. 69, pp. 105–110, 1989.

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Reva, T.L., Roman, V.M. Dynamical model for a plane manipulator with rotary kinematic couples and rigid links. J Math Sci 67, 3116–3120 (1993). https://doi.org/10.1007/BF01098151

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  • DOI: https://doi.org/10.1007/BF01098151

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