Effects of Deformation on Actuated Joints

Initializing live version
Download to Desktop

Requires a Wolfram Notebook System

Interact on desktop, mobile and cloud with the free Wolfram Player or other Wolfram Language products.

This Demonstration shows the state of a three-link mechanism with two single degree-of-freedom joints. Each joint is actuated by a linear actuator across the joint, with insertion points on two links each. The model determines the state of the mechanism based on the geometry of the linkage and the deformation of the actuators.

Contributed by: Scott Kennedy and Edmon Perkins (December 2019)
Open content licensed under CC BY-NC-SA


Details

Reference

[1] M. W. Spong, S. Hutchinson and M. Vidyasagar, Robot Modeling and Control, Hoboken, NJ: John Wiley and Sons, 2006.


Snapshots



Feedback (field required)
Email (field required) Name
Occupation Organization
Note: Your message & contact information may be shared with the author of any specific Demonstration for which you give feedback.
Send