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Information Journal Paper

Title

MODELING A ROBOT WITH FLEXIBLE JOINTS & ARM AND SOLUTION OF THE EQUATION OF MOTION WITH PERTURBATION ANALYSIS

Pages

  3111-3133

Abstract

 The governing equation of multi-link robots are nonlinear in nature. Perturbation analesis is used to arrive at approximate closed form solutions to better understand the behaviour of these system at resonance, when flexible link and a flexible joint to stady the effects of nonlinearities. MAPLE is used in this study to arrive at the approximate solution of the equation of motion of the robot in question the two variable are expanded in a power series and the terms of this series are solved recursively. The study reveals that the system behaves like one with quadratic nonlinearities, and periodicts, saturation at internal resonance and the jump resonance phenomenon.

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    APA: Copy

    FAKHRAIE, M., ZOOHOR, H., & MEHRI, BAHMAN. (2001). MODELING A ROBOT WITH FLEXIBLE JOINTS & ARM AND SOLUTION OF THE EQUATION OF MOTION WITH PERTURBATION ANALYSIS. JOURNAL OF SCIENCES (ISLAMIC AZAD UNIVERSITY), 11(41), 3111-3133. SID. https://sid.ir/paper/70282/en

    Vancouver: Copy

    FAKHRAIE M., ZOOHOR H., MEHRI BAHMAN. MODELING A ROBOT WITH FLEXIBLE JOINTS & ARM AND SOLUTION OF THE EQUATION OF MOTION WITH PERTURBATION ANALYSIS. JOURNAL OF SCIENCES (ISLAMIC AZAD UNIVERSITY)[Internet]. 2001;11(41):3111-3133. Available from: https://sid.ir/paper/70282/en

    IEEE: Copy

    M. FAKHRAIE, H. ZOOHOR, and BAHMAN MEHRI, “MODELING A ROBOT WITH FLEXIBLE JOINTS & ARM AND SOLUTION OF THE EQUATION OF MOTION WITH PERTURBATION ANALYSIS,” JOURNAL OF SCIENCES (ISLAMIC AZAD UNIVERSITY), vol. 11, no. 41, pp. 3111–3133, 2001, [Online]. Available: https://sid.ir/paper/70282/en

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    مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources
    مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources
    مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources
    مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources
    مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources
    مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources
    مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources
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