| タイトル | Base reaction optimization of redundant manipulators for space applications |
| 本文（外部サイト） | http://hdl.handle.net/2060/19900006131 |
| 著者（英） | Desa, S.; Desilva, C. W.; Chung, C. L. |
| 著者所属（英） | Carnegie-Mellon Univ. |
| 発行日 | 1988-01-01 |
| 言語 | eng |
| 内容記述 | One of the problems associated with redundant manipulators which were proposed for space applications is that the reactions transmitted to the base of the manipulator as a result of the motion of the manipulator will cause undesirable effects on the dynamic behavior of the supporting space structure. It is therefore necessary to minimize the magnitudes of the forces and moments transmitted to the base. It is shown that kinematic redundancy can be used to solve the dynamic problem of minimizing the magnitude of the base reactions. The methodology described is applied to a four degree-of-freedom spatial manipulator with one redundant degree-of-freedom. |
| NASA分類 | MECHANICAL ENGINEERING |
| レポートNO | 90N15447
NASA-CR-186274
NAS 1.26:186274
CMU-RI-TR-88-17 |
| 権利 | Copyright, Distribution under U.S. Government purpose rights |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/139314 |
