An innovative joint-space explicit dynamics symbolic computation model for closed-chain mechanisms

DOI10.1016/j.apm.2022.10.053OpenAlexW4308191025MaRDI QIDQ2692050

Zhenhao Guo, Hehua Ju, Kaimeng Wang

Publication date: 21 March 2023

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2022.10.053

zbMATH Keywords

symbolic computationexplicit dynamicsclosed-chainjoint spacesimplified system dynamics

Mathematics Subject Classification ID

Dynamics of a rigid body and of multibody systems (70Exx) Kinematics (70Bxx) Mechanics of particles and systems (70-XX)

Cites Work

• Unnamed Item
• Symbolic formulation of closed chain dynamics in independent coordinates.
• Screw theory and higher order kinematic analysis of open serial and closed chains.
• Dynamics of parallel manipulators by means of screw theory.
• An innovative joint-space dynamic theory for rigid multi-axis system. I: Fundamental principles
• Explicit dynamics equations of the constrained robotic systems
• Robot Dynamics Algorithms

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