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virtual work principle

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A Study on Vibrations of Hexarot-Based High-G Centrifugal Simulators
Siamak Pedrammehr, Houshyar Asadi, Saeid Nahavandi
Journal:

Robotica / Volume 38 / Issue 2 / February 2020

Published online by Cambridge University Press:

21 May 2019, pp. 299-316
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This paper investigates the vibrations of hexarot simulators. The generalized modeling of kinematics and dynamics formulation of a hexarot mechanism is addressed. This model considers the flexible manipulator with the base motion. The dynamic formulation has been developed based on the principle of virtual work. The dynamic model consists of the stiffness of the different parts of the mechanism, the effects of gravity and inertia, torque and force related to the joints viscous friction. Finally, the response of the end effector at various frequencies has been presented, and the vibrations of the mechanism and the dynamic stability index have been investigated.