Abstract
In this paper, it is shown how to derive systematically constraint equations for closed-loop mechanisms with flexible bodies as linear functions of deformation variables. The proposed approach is based on metric relations between kinematic constraints on a binary flexible body. The work describes how to evaluate the sensitivity of the closure equations to given deformation shapes that express the body flexibility. Several indexes and coefficients are introduced and rules are defined in order to verify the possibility of solving the linear constraint equations.
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© 2002 Springer Science+Business Media Dordrecht
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Fanghella, P., Galletti, C. (2002). Using Body Flexibility to Simplify the Solution of Kinematic Equations in the Dynamic Analysis of Robot Mechanisms and Multibody Systems. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_24
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DOI: https://doi.org/10.1007/978-94-017-0657-5_24
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
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