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Elastodynamics of the Rigid-Flexible 3-ṞRR Mechanism Using ANCF Method

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Intelligent Robotics and Applications (ICIRA 2014)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8918))

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Abstract

The elastodynamics of the 3-RRR mechanism is studied in this paper. The absolute nodal coordinate formulation (ANCF) is used to model the flexible links, the generalized α method with several efficient methods are adopted to solve the equations of motion of the system. A comparison is made between the rigid and flexible links of the mechanism. The results show that the flexibility of the link affects the displacement, velocity and acceleration of the moving platform significantly, and the flexure mechanism exhibits high frequencies vibrations

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Zhang, X., Zhang, X. (2014). Elastodynamics of the Rigid-Flexible 3-ṞRR Mechanism Using ANCF Method. In: Zhang, X., Liu, H., Chen, Z., Wang, N. (eds) Intelligent Robotics and Applications. ICIRA 2014. Lecture Notes in Computer Science(), vol 8918. Springer, Cham. https://doi.org/10.1007/978-3-319-13963-0_3

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  • DOI: https://doi.org/10.1007/978-3-319-13963-0_3

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-13962-3

  • Online ISBN: 978-3-319-13963-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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