Dynamic characteristics analysis based on ADAMS for general robotic arm of Minimally Invasive Surgical Robot

This paper presents forward dynamics and inverse dynamics simulation of the general robotic arm in three different conditions, in order to realize dynamic characteristics analysis for Minimally Invasive Surgical Robot(MISR), which is consisted of two instrument arms and one laparoscope arm. Firstly, complete virtual prototype model of general robotic arm is established. Secondly, according to the actual working environment and requirements, adding information of torque/force and position to corresponding virtual prototype model. Thirdly, running a serial of numerical dynamic simulation in Adams software, we can get the relationship between the driving torque/force and motion. The simulation results are presented to illustrate the feasibility of existing institutional systems and provide the reference for further research of general robotic arm.