Investigation on Kane Dynamic Equations Based on Screw Theory for Open-Chain Manipulators

LIU Wu-fa; GONG Zhen-bang; WANG Qin-que

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LIU Wu-fa, GONG Zhen-bang, WANG Qin-que. Investigation on Kane Dynamic Equations Based on Screw Theory for Open-Chain Manipulators[J]. Applied Mathematics and Mechanics, 2005, 26(5): 577-584.

Citation:

LIU Wu-fa, GONG Zhen-bang, WANG Qin-que. Investigation on Kane Dynamic Equations Based on Screw Theory for Open-Chain Manipulators[J]. Applied Mathematics and Mechanics, 2005, 26(5): 577-584.

Citation:

LIU Wu-fa, GONG Zhen-bang, WANG Qin-que. Investigation on Kane Dynamic Equations Based on Screw Theory for Open-Chain Manipulators[J]. Applied Mathematics and Mechanics, 2005, 26(5): 577-584.

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Investigation on Kane Dynamic Equations Based on Screw Theory for Open-Chain Manipulators

1.
College of Mechanical Engineering, Zhengzhou University, Zhengzhou 450002, P. R. China;

Received Date: 2003-11-08
Rev Recd Date: 2004-12-24
Publish Date: 2005-05-15

Abstract

Abstract

First, screw theory, product of exponential formulas and Jacobian matrix are introduced. Then definitions are given about active force wrench, inertial force wrench, partial velocity twist, generalized active force, and generalized inertial force according to screw theory. After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.
- screw theory,
- partial velocity twist,
- open-chain manipulator,
- Kane dynamic equation

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References(6)

References

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