FINITE ELEMENT DYNAMIC ANALYSIS OF FLEXIBLE MANIPULATOR ARMS WITH VISCOELASTICDAMPING
机器人粘弹性手臂的动力学有限元分析

A general approach, based on the principle of virtual work in dynamics,is presented for dynamic analysis of flexible manipulator arms with viscoelastic damping, and the finite element dynamic equations which are time-dependent differential-integral equations are developed. A recurrence formulation for numerical integration of the equations is obtained.