Analysis of Massless Elastic Chains with Servo Controlled Joints

  title={Analysis of Massless Elastic Chains with Servo Controlled Joints},
  author={Wayne J. Book},
The lumping approximation us·ed fre'quently for dynamic analysis of distributed parameter sys.tems is facilitated for a class of flexible systems by a technique developed here using 4x4 coordinate transformation matrices to account for the deflection of elastic elements under load. This technique is used to develop the linear equations of spatial motion for a system of two rigid masses connected by a chain with an arbitrary number of mas.sless beams and controlled joint rotations. 


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