Modeling and Testing of Elastic Joints Mobile Mechanical Manipulators

8/17/2019 Modeling and Testing of Elastic Joints Mobile Mechanical Manipulators

1/7

Khtmrhntkfhnl Dfurhnl fo Qfaftk`s, _fl.>, Hf.>, (122;)/ Pmpmgr R. Jgnlkcg, Emgik Efrtnznvk

?=

Efimlkhc nhi Fptkenl @fhtrfl fo n 0-Nxks Eftkfh

PkeulntfrPmpmgr R. Jgnlkcg* , Emgik Efrtnznvk

Nmrfspn`m Mhckhmmrkhc Impnrtemht, @mhtmr fo Mx`mllmh`m kh @feputntkfhnl Nmrfspn`m, Nekrjnakr ]hkv. fo Ym`ghflfcy, Ymgrnh, Krnh, R.F. Afx >=73=-99>0.

smpmgrVpfrByngff.`fe,

N Q Y K @ L M K H O F N A P Y Q N @ Y Nrtk`lm gkstfry4

Qm`mkvmi4 Nucust >?, 122;

Qm`mkvmi kh rmvksmi ofre4 Hfvmeamr 9, 122;

N``mptmi4 Hfvmeamr 13, 122;

Kh tgks pnpmr, n 0-nxks eftkfh skeulntfr, ns n tgrmm imcrmm-fo-ormmife tmst stnhi ofr nkr`rnot

khstruemht tmstkhc nhi `nlkarntkhc wktgkh n Gnriwnrm-Kh-Ygm-Lffp Mhvkrfhemht, ks stuikmi

ofr `fhtrfl nhnlysms. N entgmentk`nl efiml fo tgm skeulntfr em`gnhk`nl stru`turm ks imrkvmi

nhi tgmh lkhmnrkzmi uskhc Ynylfr smrkms mxpnhskfh nrfuhi tgm khstnhtnhmfus mquklkarkue pfkht

wgk`g ks tgm nkr`rnot tkem-impmhinht Mulmr nhclms nhi tgmkr rntms. Nlsf, tgm nkr`rnot, mnrtg nhi

ntefspgmrm nrm efimlmi kh Entlna uskhc Nmrfske alf`jsmts. N lkhmnr qunirntk` rmculntfr

(L^Q) `fhtrfl lnw ks imvmlfpmi tf trn`j tgm nttktuim, nhculnr rntms nhi nhculnr n``mlmrntkfh

fo tgm Hnvkfh nkr`rnot kh n `feplk`ntmi enhmuvmr. Ygm `fhtrfl lnw ks sgfwh tf am mook`kmht kh

tgm prmsmh`m fo ntefspgmrk` turaulmh`m, nhi rfaust tf uhjhfwh afuhimi iksturanh`ms. Ygm

n``urn`y nhi `frrm`thmss fo tgm prfpfsmi `fhtrfl systme ks vmrkokmi ay tgm skeulntkfh.

Jmywfris4Efimlkhc

Gnriwnrm-Kh-Ygm-Lffp(GSKL) s keulntkfh

L^Q

0-nxks eftkfh skeulntfr

>. Khtrfiu`tkfh

Ygm khmrtknl smhsfrs nhi nhculnr n``mlmrfemtmrs nrm sfem

fo tgm efst `rktk`nl mlmemhts fo nhy nkr`rnot, wgk`g gnvm tf

am tmstmi tf mhsurm rmlknalm fpmrntkfh kh tgm nkr.

Ymstkhc tgmsm smhsfrs wktgkh n Gnriwnrm-Kh-Ygm-Lffp

(GSKL) skeulntkfh mhvkrfhemht `nh vmrkoy tgmkr fpmrntkvm

`frrm`thmss. Ofr tgks purpfsm, n 0-nxks eftkfh skeulntfr

`nh am usmi tf tmst cyrfs, rntm cyrfs, nhculnr

n``mlmrfemtmrs, suh smhsfrs nhi ftgmr cyrfs`fpk`

khstruemhts usmi kh nh nkr`rnot. Ygm eftkfh skeulntfr ks n

tgrmm imcrmm-fo-ormmife tmst stnhi tgnt skeulntms nll tgm

nkr`rnot‛s frkmhtntkfhs ay uskhc tgrmm N@ Pmrvf eftfrs

okxmi nlfhc rfll, pkt`g nhi ynw nxms.Kh tgks pnpmr, tgm entgmentk`nl efiml fo tgm eftkfh

skeulntfr ks imrkvmi ay `nl`ulntkhc tgm nhculnr efemhtue

fo mn`g rftntkhc pnrt wktg rmspm`t tf kts rmomrmh`m ornem.

Ygmrm nrm `feplmx hfhlkhmnr `fuplkhcs nefhc tgrmm nxms

kh tgm entgmentk`nl efiml fo tgm skeulntfr, wgk`g eny

imcrnim tgm `fhtrfl pmrofrenh`m Z>U.

Ay nifptkhc n lkhmnr qunirntk` rmculntfr (L^Q) `fhtrfl

Okc. >. 0-nxks eftkfh skeulntfr

lnw, tgm skeulntfr `nh su``mssoully trn`j tgm nkr`rnot‛s

nttktuim, nhculnr rntms nhi nhculnr n``mlmrntkfh, ay

spmhikhc tgm ekhkeue `fhtrfl moofrt imspktm tgm prmsmh`m

fo ntefspgmrk` turaulmh`m nhi mxtmrhnl iksturanh`ms. Ygm

* Niirmss ofr `frrmspfhimh`m4 smpmgrVpfrByngff.`fe


2/7


??

mook`kmh`y nhi n`ùrn`y fo tgm prfpfsmi `fhtrfl systme ks

vmrkokmi uskhc skeulntkfh rmsults.

K. 1. YGM 0-NWKP EFYKFH PKE]LNYFQ NHI

GSKL PKE]LNYKFH IMP@QKRYKFH

Ygm 0-nxks eftkfh skeulntfr ns sgfwh kh Okc. > ks`feprksmi fo nh futmr ckeanl, nh khhmr ckeanl, n tmst

tnalm, tgrmm eftfrs, `fuhtmrwmkcgts nhi n ansm. Ygm

pnylfni ks efuhtmi fh tgm tfp fo tgm tmst tnalm. Ygm futmr

ckeanl rftntms nrfuhi n vmrtk`nl ynw nxks wgk`g ks irkvmh

ay n eftfr lf`ntmi khskim tgm ansm `nllmi ynw eftfr. Ygm

khhmr ckeanl efvms nrfuhi n gfrkzfhtnl pkt`g nxks nhi ks

irkvmh ay nhftgmr eftfr wgk`g ks okxmi fh tgm futmr

ckeanl, nhi ks hnemi pkt`g eftfr. Ygm tgkri eftfr `nllmi

rfll eftfr, ks okxmi fh tgm khhmr ckeanl, nhi irkvms tgm tmst

tnalm wgk`g rftntms nrfuhi tgm rfll nxks pmrpmhikùlnr tf

tgm pkt`g nxks. Ygm ynw, pkt`g nhi rfll nxms emmt nt n

skhclm pfkht kh spn`m. Ygm wgflm systme ks imskchmi tf am

nxk-syeemtrk`. Ygm `fuhtmrwmkcgts okxmi kh tgm khhmr

ckeanl nrm usmi tf anlnh`m tgm pnylfni su`g tgnt tgm

`mhtmr fo crnvkty fo tgm khhmr ckeanl nhi tgm pnylfni lkms

fh tgm pkt`g nxks Z>U. Ygm nr`gktm`turm fo GSKL

skeulntkfh ofr nkr`rnot khstruemht tmstkhc ks sgfwh kh Okc.

1. Ygrmm prkh`kpnl `fepfhmhts fo tgm `lfsmi lffp systme

nrm tgm nmrknl vmgk`lm fr `fepfhmhts fo tgm nmrknl vmgk`lm,

tgm skeulntkfh `feputmr, nhi tgm pgysk`nl eftkfh systme

wgk`g ktsmlo `fhsksts fo tgm pgysk`nl skeulntfr nhi eftkfh

`fhtrfllmr Z1U, Z0U.

Ygm skeulntkfh `feputmr `fhtnkhs tgm nkr`rnot iyhnek`

efiml tfcmtgmr wktg tgm ntefspgmrm nhi tgm mnrtg efimls,

nhi ks rmspfhskalm ofr tgm rmnl-tkem `nlùlntkfh fo tgm

nkr`rnot nttktuim, kh`luikhc khstnhtnhmfus Mulmr nhclms nhi

tgmkr rntms, nhi smhikhc tgme tf tgm eftkfh `fhtrfllmr.

Okc. 1. Gnriwnrm-Kh-Ygm-Lffp nr`gktm`turm

Ygm eftkfh `fhtrfllmr ks `feprksmi fo n RL@ ofr tgm

keplmemhtntkfh fo tgm `fhtrfl nlcfrktge, nhi tgrmm smrvf

neplkokmrs tf irkvm n` smrvf eftfrs, sf tgnt tgm skeulntfr

`nh trn`j tgm nkr`rnot‛s nttktuim, nhculnr rntms nhi nhculnr

n``mlmrntkfhs rm`mkvmi orfe tgm skeulntkfh `feputmr.

Ygm pgysk`nl skeulntfr fr 0-nxks eftkfh skeulntfr ks usmi

tf tmst tgm pmrofrenh`m fo nttktuim smhsfrs, rntm cyrfs nhi

nhculnr n``mlmrfemtmrs. Ygmsm smhsfrs wgk`g nrm efuhtmi

fh tgm tmst tnalm rftntm wktg tgm eftkfh tnalm nhi smhi

tgmkr skchnls tf tgm fhafnri `feputmr `fhtrfllmr fr

nkr`rnot‛s nutfpklft. Ay gnvkhc tgm rmnl smhsfr skchnls fo

nkr`rnot, tgm nutfpklft `nh hfw `nlùlntm tgm imskrmi`fhtrfl suron`ms `feenhis, k.m. tgm mlmvntfr, nklmrfh nhi

ruiimr imolm`tkfhs, nhi smhi tgme tf tgm n`tuntfrs fo tgm

rmnl `fhtrfl suron`ms em`gnhkses efuhtmi fh tgm

Krfhakri. Ygm rmnl emnsurmi nhclms fo tgm `fhtrfl suron`ms

prfvkim futputs tf tgm skeulntkfh `feputmr. Orfe tgks

stnrtkhc pfkht kh tgm lffp, tgm wgflm prf`mss wkll am

rmpmntmi uhtkl tgm mhi fo tgm skeulntkfh tkem.

KK. 0. ENYGMENYK@NL EFIMLKHC FO YGM 0-

NWKP EFYKFH PKE]LNYFQ EM@GNHK@NL

PYQ]@Y]QM

Ygm skeulntfr gns tgrmm rftntkhc pnrts, hnemly rfll pnrt

kh`luikhc pnylfni nhi tmst tnalm: pkt`g pnrt kh`luikhc khhmr

ckeanl, `fuhtmrwmkcgts nhi rfll eftfr: nhi ynw pnrt

kh`luikhc futmr ckeanl nhi pkt`g eftfr.

Okc. 0. Jkhmentk`s rmprmsmhtntkfh fo tgm eftkfh

skeulntfr ay uskhc Mulmr nhclms

Ns sgfwh kh Okc. 0, nhclms , nhi nrm imhftmi ns rfll, pkt`g nhi ynw nhclms rmspm`tkvmly nhi emnsurmi orfe

tgmkr khktknl stntms. Nlsf, tgm nhculnr vmlf`ktkms nafut tgmsm

tgrmm nxms nrm )(,)(

pr nhi . Hftm tgnt h ks pmrpmhikùlnr tf rp plnhm. Ygm nhculnr vmlf`kty fo rph

ornem okxmi fh tgm khhmr ckeanl ks Z>U,

hr p y y p

y p

rphk

skh`fs

(>)

hr

pr

y y y

p pr r

skh`fs

,

(1)

Ygm nhculnr efemhtue fo tgm rfll pnrt ks,

)(

y

Khmrtknl Pmhsfrs Cyrfs

Qntm Cyrfs

N``mlmrfemtmrs 0-Nxks Eftkfh Pkeulntfr

Qftntkfhnl Pmhsfr

Ptkeulntkfh

Eftkfh

@fhtrfllmr

Pkeulntfr

@feenhisQmnl @fhtrfl

Puron`m

Khofrentkfh

_mgk`lm Iyhnek`

Pkeulntkfh

Fhafnri @feputmr

@fhtrfllmr (Nutfpklft)


3/7


?3

y pr r r K G

(0)

wgmrm tgm rfll pnrt ks nssuemi tf am nxk-syeemtrk`, nhi kts

`fhstnht efemht fo khmrtkn ks fo tgm ofre

kh tgm rph ornem. Ygmrmofrm tgm

mxtmrhnl tfrqumk

r E

n`tkhc fh tgm rfll pnrt ks Z>U,

(9)

rr E , tgm `fepfhmht fo tgm tfrqum

k

r E

prfiu`mi ay rfll

eftfr, ks `nlùlntmi ns ofllfws4

(=)

Nlsf, tgm nhculnr efemhtue fo tgm pkt`g pnrt ks ckvmh ay,

(?)

wgmrm `fhstnht efemht fo khmrtkn entrkx fo tgm pkt`g pnrt

ks nhi tgmrmofrm, p p E , tgm

`fepfhmht fo tgm tfrqum k

p E

prfiu`mi ay pkt`g eftfr, ks

`nlùlntmi ns ofllfws Z9U,Z=U4

(3)

Ofr skeplk`kty, tgm nhculnr efemhtue vm`tfr fo tgm ynw

pnrt ks prmsmhtmi kh rmomrmh`m ornem khstmni fo rph ornem,

nhi ks ckvmh ay,

(7)

wgmrm yy K ks tgm ynw pnrt efemht fo khmrtkn nafut tgm ynw

nxks. Ygm rftntkfh entrkx orfe tgm rph ornem tf tgm

khmrtkn ornem ks ckvmh ay,

(;)

wgmrm ` khik`ntms `fskhm nhi s khik`ntms skhm.

yz E , Ygm `fepfhmht fo tgm tfrqum k

y E

nrfuhi tgm ynw

nxks prfiu`mi ay tgm ynw eftfr, ks `nlùlntmi ns ofllfws4

(>2)

Ygm entgmentk`nl efiml fo tgm skeulntfr `nh am

prmsmhtmi ay `feakhkhc nhi nrrnhckhc (=), (3) nhi (>2) nsofllfws Z>U4

(>>)

wgmrm Y q ks tgm pfsktkfh vm`tfr. ks tgmskeulntfr khmrtkn entrkx wgk`g ks n syeemtrk` pfsktkvm

imokhktm entrkx, ks tgm imenhimi

tfrqum vm`tfr fo tgm tgrmm eftfrs nhi

ks tgm mxtmrhnl iksturanh`m vm`tfr.

KKK. 9. LKHMNQ FRYKENL YQN@JKHC @FHYQFL

IMPKCH

Hfw tgm `fhtrfl tnsj ks tf cmt tgm futput tf trn`j tgm

tkem-vnrykhc ;-ikemhskfhnl vm`tfr ,

k.m. n imskrmi trndm`tfry ansmi fh tgm spm`kok` enhmuvmr fo

tgm nkr`rnot. Yf imskch n `fhtrfllmr ansmi fh tgm lkhmnr

qunirntk` rmculntfr (L^Q), kt ks okrst hmmimi tf lkhmnrkzm

tgm plnht. Ygm entgmentk`nl efiml fo tgm eftkfhskeulntfr em`gnhk`nl stru`turm `nh am lkhmnrkzmi uskhc

Ynylfr smrkms mxpnhskfh nrfuhi tgm khstnhtnhmfus

mquklkarkue pfkht wgk`g ks n tkem-vnrykhc ?-ikemhskfhnl

vm`tfr, ns tgm nkr`rnot

tkem-impmhinht Mulmr nhclms nhi tgmkr rntms. Ay

`fhskimrkhc ns tgm stntm vm`tfr fo tgm

skeulntfr, nhi mxpnhikhc tgm hfhlkhmnr stntm mquntkfh (>>)

kh n Ynylfr smrkms, wm gnvm

u] x W x W

uuu x x x

u

u

O x

x

O x

u x O x

i i

u xu x i i i i

,,

,

,

,,

(>1)

t ] t At W t Nt W (>0)wgmrm nll fo hfh-zmrf `fepfhmhts fo tgm tkem-vnrykhc

entrk`ms, N nhi A nrm lkstmi kh tgm Nppmhikx.

Ygm `fhtrfl khput vm`tfr ks ckvmh ay Z?U,

(>9)

wgmrm )(t J ks tgm ommian`j cnkh entrkx.

Kh frimr tf ekhkekzm aftg tgm trn`jkhc mrrfr nhi `fhtrfl

moofrt, tgm fadm`tkvm ouh`tkfh `nh am wrkttmh ns ofllfws4

t t

t

Y Y

o i ] Q] W ^ W t t D o

, (>=)

wgmrm )(t Q ks n squnrm, syeemtrk` pfsktkvm imokhktm entrkx

`nllmi tgm `fhtrfl `fst entrkx, nhi )(t ^ ks n squnrm,

syeemtrk` pfsktkvm smek-imokhktm entrkx `nllmi tgm stntm

wmkcgtkhc entrkx Z3U. Ygm npprfprkntm ^ nhi Q ofr tgm

skeulntfr nrm smlm`tmi ns ofllfws4

U,,Z rphrphrr r K K K iknc K

h E p E r E

G G E

rhrprr

r

rphkrph

r

k

r

rr rr rr

K K E skhf̀s

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U,,Z ph pp p r p K K K iknc K

`fsskh

skh

1

phrph p r rr

rr p prph pp

K K K K

K K K E

j K G Q G yy pkrphk

y

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s``` s

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Qkrph

2

11

s` K K K K

s` K K K K E

phrph p r rr

rr phrph yy yz

o Y qqq@ qq G ),()(

` s K ` s K s K

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s K

qq@

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K

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q G

00>

0>

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09>

1

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2

22

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2

22

2

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p hrph yy p hrph p r rr

p prphrr

K K K K K K K K K

K K K K K

90

1>

:

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Y meymepmer Y Y Y

Y oy op or o Y Y Y Y

q

Y qqqq

Y i i i i i i i

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t W t J t ]


4/7


?7

(>?)

Ay suastktutkhc (>9) khtf (>0), tgm `lfsmi-lffp stntm

mquntkfh `nh am wrkttmh ns ofllfws4

(>3)

Ygm sflutkfh tf (>3) `nh am wrkttmh ns ofllfws4

(>7)

wgmrm ),( 2t t @L ks tgm stntm-trnhsktkfh entrkx.

Ay suastktutkhc (>7) khtf (>=), wm gnvm

(>;)

wgmrm ),( o t t E ks ckvmh ay,

(12)Ygmrmofrm, ekhkekzkhc ),( o t t E wkll ekhkekzm

),( o t t D ns wmll. Hfw ay ikoomrmhtkntkhc (>;) nhi (>=), nhi

mquntkhc tgme wm cmt tgm ofllfwkhc4

(1>)

Okhnlly, tgm fptkenl cnkh entrkx wgk`g ekhkekzms

),( o t t D ks ckvmh ay,

(11)

wgmrm , tgm ekhkeue vnlum fo tgm ),( o t t E

, ks tgm sflutkfh tf tgm ofllfwkhc mquntkfh4

(10)

Mquntkfh (10) ks `nllmi tgm nlcmarnk` Qk``ntk mquntkfhZ?U-Z;U. Pkh`m, entrk`ms N nhi A nrm khstnhtnhmfusly

`nlùlntmi n``frikhc tf tgm nkr`rnot nttktuim,

ns tgm

fptkenl cnkh entrkx wkll vnry nt mvmry tkem stmp.

K_. =. PKE]LNYKFH Q MP]LYP

Ygm mook`kmh`y fo tgm L^Q `fhtrfl lnw ks khvmstkcntmi wktg

rmspm`t tf trn`jkhc mrrfr nhi rfausthmss uskhc `feputmr

skeulntkfhs. Ygm alf`j ikncrne fo tgm eftkfh skeulntfr ks

sgfwh kh Okc. 9. Ygm enkh `fepfhmhts fo tgm skeulntkfh

nrm nkr`rnot iyhnek` efiml alf`j, `fhtrfllmr efiml alf`j

nhi 0-nxks eftkfh skeulntfr efiml alf`j.

Okc. 9. Ygm alf`j ikncrne fo tgm Eftkfh Pkeulntfr @fhtrfl Pystme

Ygm nkr`rnot iyhnek` efiml alf`j, kh`luims tgm

entgmentk`nl efiml fo tgm nkr`rnot iyhnek`s, mnrtg nhi

ntefspgmrm efimls. Ygks alf`j `nlùlntms tgm nkr`rnot

nttktuim, nhculnr rntms nhi nhculnr n``mlmrntkfh fh tgm

ansks fo Mulmr nhclms ay sflvkhc tgm ?-IFO mquntkfhs fo

eftkfh fo tgm nkr`rnot uskhc Nmrfske tfflafx kh Pkeulkhj

Z>>U-Z>0U. Ygm `feplk`ntmi enhmuvmr wgk`g ks imskchmi

tf mvnluntm tgm pmrofrenh`m fo tgm prfpfsmi `fhtrfl lnw kssgfwh kh Okc. ?. Ygm nklmrfh nhi mlmvntfr `feenhis ofr

tgks enhmuvmr nrm sgfwh kh Okc. =. Nlsf, tgm ruiimr

imolm`tkfh ks jmpt zmrf iurkhc tgm enhmuvmr.

Okc. =. Ygm Hnvkfh `fhtrfl suron`ms `feenhis

Okc. ?. Ygm nkr`rnot nttktuim ansmi fh tgm Mulmr nhclms kh tgm

enhmuvmr

Ns sgfwh kh Okc. ?, kh tgks enhmuvmr, tgm nkr`rnot

pmrkfik`nlly `gnhcms kts frkmhtntkfh kh aftg rfll nhi ynw`gnhhmls. Ygm `fhtrfllmr efiml alf`j kh`luims tgm

entgmentk`nl efiml fo tgm imvmlfpmi `fhtrfl lnw. Ygks

alf`j cmts tgm trn`j khputs, k.m. imskrmi stntm vm`tfr, nhi

tgm ùrrmht stntm vm`tfr fo tgm skeulntfr orfe tgm nkr`rnot

iyhnek` efiml alf`j nhi tgm 0-nxks eftkfh skeulntfr

alf`j rmspm`tkvmly, kh frimr tf `nlùlntm tgm `fhtrfl

`feenhis ay sflvkhc tgm nlcmarnk` Qk``ntk mquntkfh. Ns

sgfwh kh Okc. 3, tf on`klktntm tgm dfkht ork`tkfh nhi

iksturanh`m moom`t khvmstkcntkfhs, tgm eftkfh skeulntfr ks

nlsf efimlmi kh tgm _ksunl Hnstrnh 9I mhvkrfhemht. Ygm

vksunl skeulntfr efiml rm`mkvms tgm `fhtrfl `feenhis

orfe tgm `fhtrfllmr alf`j kh Entlna, nhi tgmh tgm rmnl stntm

vm`tfr fo tgm skeulntfr ks `nlùlntmi ay tgm _ksunl Hnstrnhsflvmr tf prfvkim ommian`j ofr tgm `fhtrfllmr alf`j kh

Pkeulkhj.

U>?,>=,=Z

U?9,?=,32,=1,=0,==Z>22

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5/7


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Okc. 3. Pkeulntfr efimlkhc kh _ksunl Hnstrnh 9I

=.> Mxtmrhnl Iksturanh`m Moom`ts

Ygm okrst skeulntkfh ks imskchmi tf khvmstkcntm tgm

rfausthmss fo tgm prfpfsmi `fhtrfl lnw kh tgm prmsmh`m fo

mxtmrhnl iksturanh`ms. Ofr tgks purpfsm, n `fhstnht

iksturanh`m Hej Y r

1.> ks khtrfiu`mi nt st 12 nhi

kt lnsts ofr s>2 . Nssuem tgm khktknl pfsktkfhs fo tgm nkr`rnot

nrm imc?.11)2( : imc2)2( : imc2)2( nhitgm khktknl vmlf`ktkms nhi n``mlmrntkfh nrm zmrf. Nlsf,

nssuem tgm khktknl pfsktkfhs fo tgm skeulntfr nrm

: imc9?)2( :

nhi tgm khktknl vmlf`ktkms nhi n``mlmrntkfh nrm zmrf.

Hftm tgnt alum nhi crmmh lkhms khik`ntm tgm trndm`tfry fo

tgm Hnvkfh nkr`rnot nhi tgm skeulntfr rmspm`tkvmly.

Okc. 7. Ygrmm nxms pfsktkfh trn`jkhc

Okc. ;. Ygrmm nxms vmlf`kty trn`jkhc

Okc. >2. Ygrmm nxms n``mlmrntkfh trn`jkhc

Okc. >>. Ygrmm nxms trn`jkhc mrrfr

Pkeulntkfh rmsults sgfw tgnt tgm skeulntfr `nh n``urntmly

trn`j tgm imskrmi trndm`tfrkms nafut tgrmm nxms imspktm tgm

prmsmh`m fo mxtmrhnl iksturanh`ms.

=.1 Ntefspgmrk` Yuraulmh`m Moom`ts

Ygm sm`fhi skeulntkfh ks imskchmi tf khvmstkcntm tgm

rfausthmss fo tgm prfpfsmi `fhtrfl lnw kh tgm prmsmh`m fo

ntefspgmrk` turaulmh`m. Ygm turaulmh`m ks cmhmrntmi ay

npplykhc vfh Jnrenh turaulmh`m sgnpkhc okltmrs ofr

lfhcktuikhnl, lntmrnl nhi vmrtk`nl `fepfhmhts tf

tgrmm wgktm-hfksm sfur`ms.

Okc. >1. Ygrmm nxms pfsktkfh trn`jkhc

imc=.>>)2( imc3.17)2(


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32

Okc. >0. Ygrmm nxms vmlf`kty trn`jkhc

Okc. >9. Ygrmm nxms n``mlmrntkfh trn`jkhc

Okc. >=. Ygrmm nxms trn`jkhc mrrfr

Pkeulntkfh rmsults sgfw tgnt tgm skeulntfr `nh

su``mssoully trn`j tgm imskrmi trndm`tfrkms nafut tgrmm nxms

imspktm tgm prmsmh`m fo ntefspgmrk` turaulmh`m.

_. ?. @FH@L]PKFH

Ygm entgmentk`nl efiml fo n 0-nxks eftkfh skeulntfr ks

imvmlfpmi, tgmh lkhmnrkzmi uskhc Ynylfr smrkms mxpnhskfh

kh tgks pnpmr. Puasmqumhtly, n lkhmnr qunirntk` rmculntfr

(L^Q) `fhtrfl lnw ks imvmlfpmi tf ekhkekzm aftg trn`jkhc

mrrfr nhi `fhtrfl moofrt. Ygm skeulntkfh rmsults gnvm

vmrkokmi tgm `frrm`thmss nhi n``urn`y fo tgm prfpfsmi

`fhtrfl lnw imspktm tgm prmsmh`m fo uhjhfwh afuhimi

iksturanh`ms nhi ntefspgmrk` turaulmh`m.

NppmhikxEfemhts fo Khmrtkn fo tgm Rlnht kh “rph― rmomrmh`m ornem4

Khktknl Olkcgt @fhiktkfhs4

Ofr entrk`ms N nhi A , tgm hfh-zmrf `fepfhmhts nrm

lkstmi amlfw4

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Qmomrmh`ms

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Nxks Eftkfh Pkeulntfr, KMMM, 1221.

Z1U G. P. Gnvlk`smj, & Lnrry Tnhn, Keprfvkhc rmnl-tkem

`feeuhk`ntkfh amtwmmh gfst nhi eftkfh systme kh n

GSKL skeulntkfh, N`utrfhk` ]PN, Rkttsaurcg, RN, 1221.

Z0U R. Cmoo, & S. Jmhhmtg, Imskchkhc Eftkfh Pystme ofr

GSKL Pkeulntkfh, @nr`f Mlm`trfhk`s, @N, 1221.

Z9U D. Emrkne, & L. Jrnkcm, Mhckhmmrkhc Em`gnhk`s

Iyhnek`s, Dfgh Sklmy & Pfhs, Kh`.e, >;;7.

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Z?U Ifhnli Jkrj, Nh Khtrfiu`tkfh tf Fptkenl @fhtrfl

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nhi Pkeulkhj, Dfgh Sklmy & Pfhs, Lti, 1222.

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Z>0U I. G. Ykttmrtfh, & D. L. Smstfh, Ptrnpifwh Khmrtknl

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e EN@ 3030?.>

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Modeling and Testing of Elastic Joints Mobile Mechanical Manipulators

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