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Light modular mechanical arm is widely used in service robots. This paper combines the SHUNCK 7 DOF mechanical arm in the application of nursing robot, building its kinematics model, analyzing the inverse kinematic problem with the geometry method against specific grasping task, and the dynamic problem with the Newton-Euler method to achieve the smooth movement of the terminal. At last, construct...
Nowadays, taking into consideration significantly improved knowledge in the robotics (classical mechanics); the Euler-Bernoulli equation can not be used anymore in its original form, as a purpose of synthesis and analysis of elastic robotic systems. Therefore, with respect to Euler and Bernoulli, it is necessary to further improve the equation. It is the only way for not losing information of complexity...
In this paper, "New form of the Euler-Bernoulli equation" has been defined and it has been directly derived from "Source form of the Euler-Bernoulli equation". The complete analogy between the original solution of the Euler-Bernoulli equation and the solution of direct kinematics in robotics (transformation matrix) has been defined. The analogue between the "Source form of...
Euler and Bernoulli did not define the mathematical model of a link with an infinite number of modes, but D. Bernoulli defined the motion solution (shape of an elastic line). In this paper, “New form of the Euler-Bernoulli equation” has been defined and it has been directly derived from “Source form of the Euler-Bernoulli equation”, modern robotic knowledge and on the principles of classical mechanics.
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