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Conserving Integrators for Parallel Manipulators InTech
Stefan Uhlar; Peter Betsch.
We have shown that the proposed rotationless formulation of multibody dynamics is wellsuited for the energymomentum conserving integration of both open-loop and closed-loop multibody systems. Although the use of rotations has been completely circumvented throughout the whole discretization, joint-forces can still be applied to a specific multibody system by resorting to the proposed coordinate augmentation technique. The present developments have been restricted to the planar case. However, it is important to note, that the extension to the three-dimensional setting can be performed without any conceptual differences. Similarly, alternative types of joints belonging to the class of lower kinematic pairs such as cylindric joints can be easily incorporated...
Tipo: 5 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/conserving_integrators_for_parallel_manipulators
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