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• W4313484860 abstract "This paper proposes a novel design criterion for manipulators with flexible joints based on elastodynamic performance. Consequently, the elastodynamic performance is assessed; the eigenvalue problem is solved to determine the first natural frequency based on the manipulator's inertia and stiffness matrices. Then, the elastodynamic criterion is evaluated within a region of the Cartesian workspace in order to obtain a global measure. The global elastodynamic performance of a planar serial manipulator and a planar parallel manipulator with flexible joints were obtained. The numerical results show a high dependency of the elastodynamic performance on the configuration and geometric parameters of the manipulator." @default.
• W4313484860 created "2023-01-06" @default.
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• W4313484860 date "2022-10-18" @default.
• W4313484860 modified "2023-10-17" @default.
• W4313484860 title "Global Elastodynamic Performance Criterion of Manipulators with Flexible Joints" @default.
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• W4313484860 doi "https://doi.org/10.1109/lars/sbr/wre56824.2022.9995883" @default.
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