Analysis of massless elastic chains with servo controlled joints
Book, Wayne John
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The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4- X 4- coordinate transformation matrices to account for the deflection of elastic elements under load. This approach is used to develop the linear equations of spatial motion for a system of two rigid masses connected by a chain with an arbitrary number of massless beams and controlled joint rotations.