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Linearization of hybrid robots and input torque balancing of mechanisms. (English) Zbl 1049.70619
Summary: The equations of motion of hybrid robots are linearized (fully or partially) using the concept of linearity number (LN). The definition of LN is modified slightly to yield the torque fluctuation number (TFN). TFN is utilized to minimize the input torque fluctuations of any 1 d.o.f. mechanism, which may be under the influence of external loads. Linearization or smoothening of the input torque is achieved by minimizing LN or TFN as much as the design constraints allow. It is shown that both LN and TFN can always be obtained in ”closed-form” using similar computation techniques; and they can be minimized ”analytically” leading to ”closed-form” solutions for the ”global” minimum and the corresponding optimal inertial parameters.
70E60 Robot dynamics and control of rigid bodies
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