This paper describes a specialized computer algebra system for automated derivation of models of dynamics for open chain mechanisms. The considered mechanisms consist of a moving base and an arbitrary number of links, connected serially by prismatic and rotary joints. The order of the joint types is arbitrary. Given types of the joints, the system obtains equations for linear and angular velocities of each body in the mechanism. Then, the system obtains the Lagrangian for the mechanism in the symbolic form. Then, using symbolic differentiation of the Lagrangian, the system obtains the equations of motion for the mechanism. Finally, the equations are translated into the Matlab/Octave language. The algebraic expressions are represented by data structures based on a novel theory of generalized multisets. The whole system is implemented as a logic program, using the SWI-Prolog language. Completeness and correctness of the program has been verified by solving for robotic manipulator dynamics.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Automated Derivation of Equations of Motion for Open Chain Mechanisms


    Beteiligte:
    Felisiak, Piotr A. (Autor:in) / Kaiyu, Qin (Autor:in) / Bo, Zhu (Autor:in) / Gun, Li (Autor:in)


    Erscheinungsdatum :

    01.08.2018


    Format / Umfang :

    119882 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Derivation of Equations of Motion for Lateral Dynamics

    Knothe, Klaus / Stichel, Sebastian | Springer Verlag | 2016



    An open-source toolbox for motion analysis of closed-chain mechanisms

    Porta, Josep M. / Ros, Lluís / Bohigas, Oriol et al. | BASE | 2014

    Freier Zugriff

    An open-source toolbox for motion analysis of closed-chain mechanisms

    Porta Pleite, Josep Maria / Ros Giralt, Lluís / Bohigas Nadal, Oriol et al. | BASE | 2013

    Freier Zugriff

    Derivation and Analysis of the Equations of Motion for a Ducted Fan UAV

    Stiltner, B. / Cotting, M. / Ohanian, O. | British Library Conference Proceedings | 2011