Equations of Motion of Robotic System With Piezo‐Modified Viscoelastic and Magnetorheological Elements of Fractional Order
Abstract
In this communication, the Rodriguez method is proposed for modeling dynamics of the robotic system, where Lagrange’s equations of second kind of rigid bodies system in covariant form are used. Discrete hybrid elements with so called piezomodified Kelvin-Voight (PKV) and magnetorheological (MRD) type of viscoelastic models with fractional order derivatives
are introduced in to the system of motion equations by means of generalized forces. The results obtained are illustrated by numerical examples.
Keywords:
robotic system / Rodriguez formula / piezo modified viscoelastic element / fractional orderSource:
Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), PAMM, 13(1), 227-22818-22 March, Novi Sad Serbia, 2013, 227-228Publisher:
- Wiley Online Library
Funding / projects:
- Sustainability and improvement of mechanical systems in energetic, material handling and conveying by using forensic engineering, environmental and robust design (RS-MESTD-Technological Development (TD or TR)-35006)
- Dynamics of hybrid systems with complex structures. Mechanics of materials. (RS-MESTD-Basic Research (BR or ON)-174001)
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Cajić, Milan AU - Lazarević, Mihailo PY - 2013 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4595 AB - In this communication, the Rodriguez method is proposed for modeling dynamics of the robotic system, where Lagrange’s equations of second kind of rigid bodies system in covariant form are used. Discrete hybrid elements with so called piezomodified Kelvin-Voight (PKV) and magnetorheological (MRD) type of viscoelastic models with fractional order derivatives are introduced in to the system of motion equations by means of generalized forces. The results obtained are illustrated by numerical examples. PB - Wiley Online Library C3 - Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), PAMM, 13(1), 227-22818-22 March, Novi Sad Serbia T1 - Equations of Motion of Robotic System With Piezo‐Modified Viscoelastic and Magnetorheological Elements of Fractional Order EP - 228 SP - 227 DO - 10.1002/pamm.201310109 ER -
@conference{ author = "Cajić, Milan and Lazarević, Mihailo", year = "2013", abstract = "In this communication, the Rodriguez method is proposed for modeling dynamics of the robotic system, where Lagrange’s equations of second kind of rigid bodies system in covariant form are used. Discrete hybrid elements with so called piezomodified Kelvin-Voight (PKV) and magnetorheological (MRD) type of viscoelastic models with fractional order derivatives are introduced in to the system of motion equations by means of generalized forces. The results obtained are illustrated by numerical examples.", publisher = "Wiley Online Library", journal = "Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), PAMM, 13(1), 227-22818-22 March, Novi Sad Serbia", title = "Equations of Motion of Robotic System With Piezo‐Modified Viscoelastic and Magnetorheological Elements of Fractional Order", pages = "228-227", doi = "10.1002/pamm.201310109" }
Cajić, M.,& Lazarević, M.. (2013). Equations of Motion of Robotic System With Piezo‐Modified Viscoelastic and Magnetorheological Elements of Fractional Order. in Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), PAMM, 13(1), 227-22818-22 March, Novi Sad Serbia Wiley Online Library., 227-228. https://doi.org/10.1002/pamm.201310109
Cajić M, Lazarević M. Equations of Motion of Robotic System With Piezo‐Modified Viscoelastic and Magnetorheological Elements of Fractional Order. in Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), PAMM, 13(1), 227-22818-22 March, Novi Sad Serbia. 2013;:227-228. doi:10.1002/pamm.201310109 .
Cajić, Milan, Lazarević, Mihailo, "Equations of Motion of Robotic System With Piezo‐Modified Viscoelastic and Magnetorheological Elements of Fractional Order" in Proceedings of 84th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2013), PAMM, 13(1), 227-22818-22 March, Novi Sad Serbia (2013):227-228, https://doi.org/10.1002/pamm.201310109 . .