Authors: Cajić, Milan 
Lazarević, Mihailo
Sekara, Tomislav
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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