Click for new scientific resources and news about Corona[COVID-19]

Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   SEPTEMBER 2012 , Volume 12 , Number 3; Page(s) 1 To 10.
 
Paper: 

APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS

 
 
Author(s):  KORAYEM M.H.*, SHAFEI A.M.
 
* IRAN UNIV. OF SCIENCE AND TECH., TEHRAN, IRAN
 
Abstract: 

In this paper a new systematic method for deriving the equation of motion of n-rigid robotic manipulators with revolute-prismatic joints is considered. The equation of motion for this robotic system is obtained based on Gibbs- Appell formulation. All the mathematical operations are done by only 3x3 and 3x1 matrices. Also, all dynamic characteristicsof a link are expressed in the same link local coordinate system. Based on the developed formulation, an algorithm is proposed that recursively and systematically derives the equation of motion. Finally, a computational simulation for a manipulator with three revolute-prismatic joints is presented to show the ability of this algorithm in deriving and solving high degree of freedom of robotic system.

 
Keyword(s): ROBOT. GIBBS-APPELL, RECURSIVE, REVOLUTE-PRISMATIC
 
 
References: 
  • Not Registered.
  •  
  •  
 
Citations: 
  • Not Registered.
 
+ Click to Cite.
APA: Copy

KORAYEM, M., & SHAFEI, A. (2012). APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS. MODARES MECHANICAL ENGINEERING, 12(3), 1-10. https://www.sid.ir/en/journal/ViewPaper.aspx?id=273508



Vancouver: Copy

KORAYEM M.H., SHAFEI A.M.. APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS. MODARES MECHANICAL ENGINEERING. 2012 [cited 2021July28];12(3):1-10. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=273508



IEEE: Copy

KORAYEM, M., SHAFEI, A., 2012. APPLICATION OF RECURSIVE GIBBS-APPELL FORMULATION IN DERIVING THE MOTION EQUATION OF REVOLUTE-PRISMATIC JOINTS. MODARES MECHANICAL ENGINEERING, [online] 12(3), pp.1-10. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=273508.



 
 
Persian Abstract Yearly Visit 35
 
 
Latest on Blog
Enter SID Blog