A recursive algorithm for dynamics of multiple frictionless impact-contacts in open-loop robotic mechanisms

•Dynamic modeling of multiple impact-contacts in open kinematic chains has been studied.•Recursive Gibbs–Appell formulation has been used to derive the motion equations.•In order to model the impact phenomenon, the regularized method has been utilized.•Detecting the impact moments and solving the st...

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Veröffentlicht in:	Mechanism and machine theory Jg. 146; S. 103745
Hauptverfasser:	Ahmadizadeh, M., Shafei, A.M., Fooladi, M.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 01.04.2020
Schlagworte:	Contact force model Gibbs–Appell formulation Impact moment Multibody system Recursive algorithm Impact moment Multibody system Gibbs–Appell formulation Recursive algorithm Contact force model
ISSN:	0094-114X
Online-Zugang:	Volltext
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