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FSI-GMMAcad. year: 2023/2024
The basic problem of solving the mechanics of manipulators is the kinematic analysis of kinematic chains. Formalized solution is based on the matrix methods. There are two types of problems to be solved. These are the direct and indirect problems of position. Inner forces or moments are solved by kinetostatics. The Lagrange equations of motion and a method of mass and force reduction are used. The area of vibrations concentrates on the specification of modal and spectral characteristics. The finite element method is applied for elastic problems and problems of forced vibrations. Attention is also paid to the positioning and orientation of robots.
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