Extracting full dynamic equations of 3 Degree of Freedom Rotary Table

A 3 degree of freedom rotary table is a robotic mechanism which brings about rotational movements. This mechanism helps to make a movement scenario in order to test guidance and navigation systems of moving vehicles. It has complicated dynamic equations. Having these equations in hand is crucial for control objectives. It is shown that we have obtained these equations by applying the Newton´s second law for rotation instead of using common methods in robotic modeling such as Denavit-Hartenberg and Newton-Euler methods. We have extracted full dynamic equations that contain all designing parameters such as moment of inertia factor in all round and even the unbalanced and wobble effect. Finally we have verified obtained equations by simulating them in MATLAB software.