Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation
A new idea for dynamics modeling of multibody systems is provided by the Udwadia-Kalaba equation. The generalized constrained relationship is established to obtain the constraint relations in analytical form. The improved Udwadia-Kalaba equation is proposed to eliminate the error which generates dur...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.016 |
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| _version_ | 1841547117612498944 |
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| author | Jia Liu Yuanping Shi Hongqiang Sun Rong Liu |
| author_facet | Jia Liu Yuanping Shi Hongqiang Sun Rong Liu |
| author_sort | Jia Liu |
| collection | DOAJ |
| description | A new idea for dynamics modeling of multibody systems is provided by the Udwadia-Kalaba equation. The generalized constrained relationship is established to obtain the constraint relations in analytical form. The improved Udwadia-Kalaba equation is proposed to eliminate the error which generates during the modeling process by Udwadia-Kalaba equation. The stimulation results show that the proposed methods can be more effectively utilized in dynamics modeling of dual-arm robot. |
| format | Article |
| id | doaj-art-8cbe1744fe5a44c3a6a6ab6e579d598a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-8cbe1744fe5a44c3a6a6ab6e579d598a2025-01-10T14:56:08ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-01-0144949829795757Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba EquationJia LiuYuanping ShiHongqiang SunRong LiuA new idea for dynamics modeling of multibody systems is provided by the Udwadia-Kalaba equation. The generalized constrained relationship is established to obtain the constraint relations in analytical form. The improved Udwadia-Kalaba equation is proposed to eliminate the error which generates during the modeling process by Udwadia-Kalaba equation. The stimulation results show that the proposed methods can be more effectively utilized in dynamics modeling of dual-arm robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.016Udwadia-Kalaba equation |
| spellingShingle | Jia Liu Yuanping Shi Hongqiang Sun Rong Liu Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation Jixie chuandong Udwadia-Kalaba equation |
| title | Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation |
| title_full | Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation |
| title_fullStr | Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation |
| title_full_unstemmed | Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation |
| title_short | Dynamics Modeling and Simulation of Dual-arm Robot based on the Improved Udwadia-Kalaba Equation |
| title_sort | dynamics modeling and simulation of dual arm robot based on the improved udwadia kalaba equation |
| topic | Udwadia-Kalaba equation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.01.016 |
| work_keys_str_mv | AT jialiu dynamicsmodelingandsimulationofdualarmrobotbasedontheimprovedudwadiakalabaequation AT yuanpingshi dynamicsmodelingandsimulationofdualarmrobotbasedontheimprovedudwadiakalabaequation AT hongqiangsun dynamicsmodelingandsimulationofdualarmrobotbasedontheimprovedudwadiakalabaequation AT rongliu dynamicsmodelingandsimulationofdualarmrobotbasedontheimprovedudwadiakalabaequation |