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    Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/20377

    Authors: Yang, Eileen Chih-Ying
    Tsung-Liang Wu
    Jwu-Sheng Hu
    I.Y. Shen
    Cheng-Chen Yang
    Contributor: Department of Mechanical Engineering, National Chung Cheng University
    Industrial Technology Research Institute (ITRI)
    Department of Electrical and Control Engineering, National Chiao-Tung University
    Department of Mechanical Engineering, University of Washington, Seattle
    Keywords: flexible effect
    stiffness matrix
    Date: 2013-11-02
    Issue Date: 2013-11-14 15:16:08 (UTC+8)
    Abstract: In this paper, the flexible effect of links and joints are considered based on the virtual spring method. From deriving the dynamic equations, we can obtain the forces and moments applied on links and joints, and the deflection can be calculated accordance with the stiffness matrix of virtual springs. We lump the link flexibility into each joints by using an equivalent stiffness method. As opposed to the rigid-body models, the angular position is used to model flexibility of the two neighboring links. This method is a great compromise, because it does not significantly increase the complexity of the formulation, yet it accounts for the link flexibility to some degrees.
    Appears in Collections:[機械工程系所] Automation 2013- The 12th International Conference on Automation Technology

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