Kinematics and calculus of variations for the Multi-freedom Manipulators with Non-fixed Collision
Kinematics and variational principle for the multifreedom Manipulators with non-fixed collision are studied.Uncertainty of the collision points increases the difficulties on dealing with collision recognition and calculating impulse.According to the geometrical feature of the given triangles, the relatively simple method to test when and where the contact and impact occur is given.The whole dynamical process including unsmooth collision is described into linear complementary problem(LCP), in which coefficient of restitution is introduced.By means of the relationship between the LCP and the quadratic programming, the dynamical model with the type of Gauss variational principle is obtained.Numerical simulation implies that the scheme provided in the present paper is valid.
Wenli Yao Peng li Yongsheng Ren
College of ScienceQingdao Technological UniversityQingdao,266555,China College of Mechanical and Electronic EngineeringShandong University of Science and TechnologyQingdao
国际会议
上海
英文
1-4
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）