Dynamic modelling of a compliant arm with 6-dimensional tip forces using screw theory
| 文献类型 | 期刊 |
| 作者 | Ding, X[1];Selig, JA[2] |
| 机构 | Beijing Univ Aeronaut & Astronaut, Robot Res Inst, Beijing 100083, Peoples R China.; S Bank Univ, Sch Comp Informat Syst & Math, London SE1 0M, England. ↓ |
| 通讯作者 | Ding, X (reprint author), Beijing Univ Aeronaut & Astronaut, Robot Res Inst, Beijing 100083, Peoples R China. |
| 来源信息 | 年:2003卷:21页码范围:193-197 |
| 期刊信息 | ROBOTICA影响因子和分区ISSN:0263-5747 |
| 关键词 | compliant form; screw theory; tip forces; dynamic modelling |
| 摘要 | In this paper, we try to find an efficient and accurate dynamic model for a robot with spatial compliant links using, the screw theory. After making some reasonable assumptions for the system, we introduce the Ding-Holzer method for system simplification. Instead of looking at the beam at rest, we consider the spatial forces and deflections of a moving elastic arm. We focus our study on the dynamic modelling, problems of a compliant arm with six dimensional forces and deformations at the tip. |
| 收录情况 | SCIE(WOS:000184107600009) |
| DOI | 10.1017/S0263574702004630 |
| 学科 | 机器人学 |
| 被引频次 | 5 |
影响因子：0.688
中科院分区：
| 一级学科 | 一级分区 | 二级学科 | 二级分区 |
| 工程技术 | 4 | ROBOTICS机器人学 | 4 |
JCR分区：
| 学科 | 分区 |
| ROBOTICS | Q3 |
dc:title:Dynamic modelling of a compliant arm with 6-dimensional tip forces using screw theory
dc:creator:Ding, X;Selig, JA
dc:date: publishDate:2003-03-01
dc:type:期刊
dc:format: Media：ROBOTICA
dc:identifier: LnterrelatedLiterature：ROBOTICA.2003,21,193-197.
dc:identifier:DOI：10.1017/S0263574702004630
dc: identifier:ISBN:0263-5747
