Multi-body Dynamic Modeling of Multi-legged Robots by Abhijit Mahapatra & Shibendu Shekhar Roy & Dilip Kumar Pratihar

Author:Abhijit Mahapatra & Shibendu Shekhar Roy & Dilip Kumar Pratihar
Language: eng
Format: epub
ISBN: 9789811529535
Publisher: Springer Singapore

(3.126)

(3.127)

(3.128)

(3.129)

where

(3.130)

(3.131)

(3.132)

(3.133)

Equations (3.130), (3.131), (3.132), and (3.133) are obtained from Table 3.2. It is to be taken into account that the parallel axis transformation leads to, , and .

The combined CM of trunk body (TB) and payload (PL) w.r.t frame L0 can be written as,

(3.134)

where

(3.135)

Here, mB, mL, m0 are the masses of the trunk body, payload and combined mass, respectively; , , and are the displacement vector from point P0 to CB, CL and C0, respectively, represented in reference frame L0.

The aggregate COM of the robotic system with respect to the frame G is given by:

Download

Copyright Disclaimer:
This site does not store any files on its server. We only index and link to content provided by other sites. Please contact the content providers to delete copyright contents if any and email us, we'll remove relevant links or contents immediately.