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Linearization of dynamic equations of flexible mechanisms – a finite element approach. (English) Zbl 0753.70003

The paper presents an algorithm for generating linearized dynamic equations of flexible mechanisms that is built on the base of finite element method and geometric transfer function formulation. The analytical approach leads to a system of linearized equations in which the matrix coefficients possess all physical and mathematical properties of the mechanisms. The proposed method is general in nature and may be applied to spatial mechanisms and manipulators with revolute and prismatic joints.

MSC:

70B15 Kinematics of mechanisms and robots
74H45 Vibrations in dynamical problems in solid mechanics
65L60 Finite element, Rayleigh-Ritz, Galerkin and collocation methods for ordinary differential equations
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