Simulation of constraints by compliant joints
作者： D. Yu. Pogorelov
DOI: 10.1134/S1064230710061048
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摘要: Application of models compliant (flexible) joints instead constraint equations for systems with closed-loop kinematic chains is considered; this makes it possible to replace differential-algebraic motion by stiff ordinary differential equations. For substantiation replacement, methods analysis singularly perturbed are used. Examples mathematical and expressions approximate Jacobian matrices corresponding these force interactions given. Numerical solutions direct inverse dynamics a number controlled mechanisms used testing the method its program realization.
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