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Dynamic Modeling and Simulation of a Manipulator with Joint Inertia

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Information and Automation (ISIA 2010)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 86))

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Abstract

This work deals with the dynamic modelling, analysis and simulation of a three degree of freedom spatial manipulator using symbolic and numerical method. A specially designed concise and novel algorithm based on Newton-Euler equation is proposed to establish the dynamic equation in form of state space automatically. Through the method not only the kinematic and dynamic parameters of the manipulator are obtained automatically, but also the simulation equation is produced concurrently. The algorithm is implemented in the well known algebraic system Maple and simulated in the Matlab/simulik. if extended, the program can be adopted for more complex manipulator.

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Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Donghua University, 2999, North People Road, Songjiang District, 201620, Shanghai, China

    shi-xiang Tian & sheng-ze Wang

Authors
  1. shi-xiang Tian
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  2. sheng-ze Wang
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Editor information

Editors and Affiliations

  1. Wuhan Institute of Technology, Wuhan, Hubei, China

    Luo Qi

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© 2011 Springer-Verlag Berlin Heidelberg

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Tian, sx., Wang, sz. (2011). Dynamic Modeling and Simulation of a Manipulator with Joint Inertia. In: Qi, L. (eds) Information and Automation. ISIA 2010. Communications in Computer and Information Science, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19853-3_2

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  • DOI: https://doi.org/10.1007/978-3-642-19853-3_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-19852-6

  • Online ISBN: 978-3-642-19853-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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