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- W2093318745 abstract "A computer simulation is performed on an industrial parallelogram type six-axis robot (the GMF S215) in order to calculate deviations from a programmed vertical circle due to mechanical compliance. A compliance breakdown analysis determined that structural compliance of the robot could be represented by springs located in five different joints (four translational and one rotational). For each of these vibratory elements, Lagrange equations of motion are derived, using MACSYMA, and solved with a continuous simulation program (ACSL) for different characteristics of the programmed circle (size, tangential velocity, location in workspace). Because of the high coupling of these five second order differential equations, state equations of the first order are used; solution of the eigenvalue problem allows to analyze the natural frequencies and the stability of the system." @default.
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- W2093318745 date "1990-01-01" @default.
- W2093318745 modified "2023-09-26" @default.
- W2093318745 title "Computer simulation of an industrial parallelogram robot with mechanical compliance" @default.
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- W2093318745 doi "https://doi.org/10.1016/0895-7177(90)90230-k" @default.
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