Dynamics modeling of Lagrangian mechanisms from inertial matrix elements Original Research Article

This paper deals with the modeling of the dynamics of multi-body mechanisms without mechanical loops. The process is realized through an unusual computational scheme that is based on the handling of Christoffel symbols of first kind. Specifically, Lagrangeʹs equations are used to design the joint space inertial matrix, but contrary to usual approaches, the Coriolis and centrifugal torques are derived from the inertial matrix elements. The symbolic FORM-program which is provided, is used to generate the dynamical equations of a 3-degree-of-freedom system, and its capabilities to formulate on PCs a PUMA-560 robot model are reported.