Dynamic analysis of robotic manipulators with closed kinematic chains

The dynamic analysis of closed-chain robot manipulators using the vector-network method is presented. This technique arises from the application of fundamental theorems of dynamics along with the exploitation of principles from graph theory. From the orthogonality principle and from the vector network´s constitutive equations, differential algebraic equations (DAEs) describing the dynamics of the manipulator with closed kinematic chains are derived. It is shown how the vector-network technique automatically generates the holonomic loop constraint equations. The system´s response can then be obtained by any methods dedicated to DAE