|Title:||Robotic system with viscoelastic element modeled via fractional Zener model||Journal:||International Conference on Fractional Differentiation and Its Applications, ICFDA 2014||Conference:||International Conference on Fractional Differentiation and Its Applications, ICFDA 2014; Catania; Italy; 23 June 2014 through 25 June 2014||Issue Date:||1-Jan-2014||ISBN:||978-147992591-9||DOI:||10.1109/ICFDA.2014.6967423||Abstract:||
In this communication, we propose a four-parameter fractional derivative Zener model for modeling of a viscoelastic element connected into a robotic system. We used force-displacement relation in order to obtain generalized forces of the element connected to two different bodies in the system. Generalized forces of the element are derived using the principle of virtual work. In order to obtain numerical results, we suggested a robotic system with three degrees of freedom. Behavior of generalized forces is examined for changes of fractional order parameter and relaxation time.
|Keywords:||fractional order viscoelasticity | generalized forces | Lagrange mechanics | Zener model||Publisher:||IEEE||Project:||Dynamics of hybrid systems with complex structures. Mechanics of materials.|
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