Abstract: The dynamic model of
two-flexible-arm mechanism with elastic joints is studied. The
transmission problem of the joint which connects two flexible
links is successfully solved. The mechanical model is proposed
for the joint, and a practical vibration analysis method of
lumped parameter transfer matrix modal analysis is developed for
two flexible arms with an elastic joint.
Key words:
Robot Flexible-arm Elastic-joints Modeling Vibration
* This project is supported by National High Technology Plan of China
and National Natural Science Foundation of China. Manuscript
received on November 10, 1993
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