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Modeling and Simulation of Robotic Systems with Closed Kinematic Chains Using the Virtual Spring Approach

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Abstract

The dynamic simulation of robotic or mechanical systems with closedkinematic chains using the virtual spring approach is presented in thispaper. This approach uses virtual springs and dampers to include thekinematic constraints thereby avoiding the solution ofdifferential-algebraic equations. A special advantage of this approachis that it leads to a completely decoupled dynamic model which is idealfor real-time dynamic simulation using multi-processor computers.Examples illustrating the approach are given and include the four-barmechanism with both rigid and flexible links as well as the six-degree-of-freedom Gough–Stewart platform. Simulation results are given for these mechanisms. The results achieve a good agreement with the resultsobtained from other conventional approaches.

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Authors and Affiliations

  1. Département de Génie Mécanique, Université Laval, Québec, Canada, G1K 7P4

    Jiegao Wang, Clément M. Gosselin & Li Cheng

Authors
  1. Jiegao Wang
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  2. Clément M. Gosselin
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  3. Li Cheng
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Correspondence to Clément M. Gosselin.

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Wang, J., Gosselin, C.M. & Cheng, L. Modeling and Simulation of Robotic Systems with Closed Kinematic Chains Using the Virtual Spring Approach. Multibody System Dynamics 7, 145–170 (2002). https://doi.org/10.1023/A:1014491204982

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