Active Groups in Complex Mechanisms Structures
The paper deals with some active modular groups usually used in the direct structure model of the leg robots or other complex equipment. Such open, un-composed and multi-mobile groups may also be involved in the direct – cinematic or dynamic modeling of the robot displacement for different strategies of motion. There are presented active modular groups with one degree of mobility (the initial active group IAG, the 4R and RTRR active group) and the 5R active modular group with two degrees of mobility. By using the inertia systems and the other external force systems their dynamic models for the determination of all reaction torque components in each (ordinary or active) cinematic pair are elaborated.
Keywordsdirect model active modular group stepping robot or platform dynamic control parameter optimal control design
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