Elastic Multibody Theory Applied to Elastic Manipulators

  • F. Pfeiffer
  • H. Bremer
Conference paper
Part of the International Union of Theoretical and Applied Mechanics book series (IUTAM)


We consider multibody systems with rigid and elastic components and the assumption, that any elastic components or couplings generate only small elastic deformations. The multibody system then performs a nonlinear gross motion determined by the corresponding system without elasticities superimposed by small elastic deviations and vibrations. Paper gives the theory for that case and an application on elastic manipulators.


Multibody System Elastic Component Passive Force Deviation Dynamic Elastic Manipulator 
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Copyright information

© Springer-Verlag, Berlin Heidelberg 1991

Authors and Affiliations

  • F. Pfeiffer
    • 1
  • H. Bremer
    • 1
  1. 1.Institute B of MechanicsTechnical University of MunichGermany

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