| Autor: |
Iuliu Negrean, Adina-Veronica Crișan, Sorin Vlase |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
Symmetry, Vol 12, Iss 1, p 95 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2073-8994 |
| DOI: |
10.3390/sym12010095 |
| Popis: |
This paper presents a new approach to the advanced dynamics of mechanical systems. It is known that in the movements corresponding to some mechanical systems (e.g., robots), accelerations of higher order are developed. Higher-order accelerations are an integral part of higher-order acceleration energies. Unlike other research papers devoted to these advanced notions, the main purpose of the paper is to present, in a matrix form, the defining expressions for the acceleration energies of a higher order. Following the differential principle in generalized form (a generalization of the Lagrange−D’Alembert principle), the equations of the dynamics of fast-moving systems include, instead of kinetic energies, the acceleration energies of higher-order. To establish the equations which characterize both the energies of accelerations and the advanced dynamics, the following input parameters are considered: matrix exponentials and higher-order differential matrices. An application of a 5 d.o.f robot structure is presented in the final part of the paper. This is used to illustrate the validity of the presented mathematical formulations. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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