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To verify and evaluate the performance of a space robot controller, kinematics and dynamics of the system have to be formed beforehand for computer simulation. The paper is devoted to develop a new kinematic notation for space robots and to come up with an open source of Matlab subroutines for the propose of obtaining the proper dynamics equations of space robots in symbolic forms automatically. For...
Over the decades, industrial robot is evolving along the trend of being more and more slim in stature and more and more compliant in character thanks to cost-driven design preference for lightweight arm and introduction of new drive chain with compact size and inherent compliance. Compared to traditional control effort on stiff chubby manipulators, accurate control of such flexible ones necessitates...
Contact stiffness of machine tool joints is important but hard to be obtained. An integrated modal analysis method is proposed to obtain the contact stiffness of the joints. The method is composed of finite element method, lumped parameter method, and modal testing. By applying the modal testing data in the finite element and lumped parameter model of the whole machine tool, the contact stiffness...
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