Analysis of massless elastic chains with servo controlled joints

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Title: Analysis of massless elastic chains with servo controlled joints
Author: Book, Wayne John
Abstract: 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.
Description: © 1978 ASME Presented at the Winter Annual Meeting, San Francisco, Calif., December 10-15, 1978.
Type: Proceedings
Citation: Book, W.J., "Analysis of Massless Book, Wayne, "Analysis of Massless Elastic Chains with Servo Controlled Joints," The American Society of Mechanical Engineers Winter Annual Meeting, 1978.
Date: 1978-12
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
American Society of Mechanical Engineers
Subject: Mechanical systems
Lumped parameter approximation
Manipulator arms
Linear equations

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