Abstract
This paper proposes a novel analysis method for higher-order acceleration vector fields in the case of rigid body motion and multibody systems, using the property of nilpotent algebra. The equations that allow the determination of higher-order accelerations field are given for the spatial serial kinematic chains. The results are in closed form and coordinate-free. As a case, the velocities, accelerations, jerks, and jounces fields are offered for a general kinematic spatial lower-pair kinematic chain.
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Condurache, D. (2023). Analysis of Higher- Order Kinematics on Multibody Systems with Nilpotent Algebra. In: Petrič, T., Ude, A., Žlajpah, L. (eds) Advances in Service and Industrial Robotics. RAAD 2023. Mechanisms and Machine Science, vol 135. Springer, Cham. https://doi.org/10.1007/978-3-031-32606-6_35
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DOI: https://doi.org/10.1007/978-3-031-32606-6_35
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