Errata: Analytical Treatment of Some Extended Problems in Structural Optimization |
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| Authors: | G I N Rozvany |
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| Institution: | THE CENTER FOR SIMULATION AND DESIGN OPTIMIZATION DEPARTMENT OF MECHANICAL ENGINEERING , THE UNIVERSITY OF IOWA, IOWA CITY, IOWA, U.S.A. |
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| Abstract: | ABSTRACT The recursive Newton-Euler dynamic formulation is used to derive the equations of motion of a manipulator with harmonic drives. The derivation is general, in that the harmonic drive is viewed as a separate body that forms a kinematically closed chain with two contiguous links, leading to a comprehensive dynamic model. The harmonic drive is modeled as a flexible and rigid gear with a high gear reduction ratio. Under different modeling assumptions, the effects of gear flexibility and dynamic coupling are examined using a seven-degree-of-freedom manipulator. |
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