Inverse Dynamic Models of Closed-Chain Mechanisms With Contact Compliance

[+] Author and Article Information
D. J. Manko, W. L. Whittaker

Field Robotics Center, Carnegie Mellon University, Pittsburgh, PA 15213

J. Mech. Des 114(1), 82-86 (Mar 01, 1992) (5 pages) doi:10.1115/1.2916929 History: Received March 01, 1990; Revised September 01, 1990; Online June 02, 2008


A general inverse dynamic model which is applicable to closed-chain mechanisms with contact compliance is presented. This class of mechanism has relatively rigid members and joints, but experiences compliant interactions with objects and the environment; examples include walking machines operating on natural terrain, devices for grasping a compliant object, and wheeled mobile robots. Previous approaches for formulating inverse dynamic models of compliant mechanisms have been approximations or limited to simple configurations and open-chain mechanisms. Inverse dynamic equations for closed-chain mechanisms with contact compliance are shown to be solvable sets of differential/algebraic equtaions (DAEs) which assures that stable and accurate solutions can be calculated; relevant characteristics and solutions of DAE systems are discussed.

Copyright © 1992 by The American Society of Mechanical Engineers
Topics: Chain , Dynamic models
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