Analysis of Massless Elastic Chains With Servo Controlled Joints

[+] Author and Article Information
W. J. Book

NASA Johnson Space Center; School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Ga. 30307

J. Dyn. Sys., Meas., Control 101(3), 187-192 (Sep 01, 1979) (6 pages) doi:10.1115/1.3426423 History: Received February 01, 1979; Online July 13, 2010


The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4 × 4 coordinate transformation matrices to account for the deflection of elastic elements under load. This approach is used to develop the linear equations of spatial motion for a system of two rigid masses connected by a chain with an arbitrary number of massless beams and controlled joint rotations.

Copyright © 1979 by ASME
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