M.Ing. (Mechanical Engineering) / This dissertation presents and explains methods for the dynamic modeling of robot like mechanisms. These mechanisms can have multiple degree of freedom joints and contain closed-chains. A new kinematic notation is proposed. The algorithms, including those used for the inverse and direct dynamics, are all based on spatial notation and a general joint model, providing a quite general, integrated and complete method for solving the dynamics of simple closed-chain mechanisms.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:uj/uj:14281 |
| Date | 13 October 2015 |
| Source Sets | South African National ETD Portal |
| Detected Language | English |
| Type | Thesis |
| Rights | University of Johannesburg |
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