authors 
Buchacz, A., Machura, A. and Pasek, M. 
year 
1998 
title 
Hypergraphs in investigation of trajectory of robot's manipulator with links as thinwalled bars 
source 
Automation in Construction 7 (5) (1998) pp. 363383 
summary 
A 3dimensional model of an industrial robot's manipulator is discussed here. The manipulator is built of two links. Each link is a bar of thin walls, with a boxshaped cross section. Harmonical forces and moments work on both ends of each bar. Lengthwisely and flexibly vibrating robot model is presented in the form of twoblock hypergraph. On the base of the skeleton of this hypergraph, a matrix of dynamical flexibilities is developed for the system. The matrix allows us to determine amplitudes of the vibrations of the end of point of the robot's manipulator, separately along each of global axis X, Y, Z. The determined amplitudes anable us to predict the real trajectory of the manipulator and compare it with theoretical trajectory. 
series 
journal paper 
more 
http://www.elsevier.com/locate/autcon 
references 
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last changed 
2003/05/15 19:22 
