Title :
A new approach to the dynamic models of robot manipulators with closed kinematic chains
Author :
Wang, Shih-Liang
Author_Institution :
Dept. of Mech. Eng., North Carolina A&T State Univ., Greensboro, NC, USA
Abstract :
An effective way to formulate the dynamic model of a robot with a closed kinematic chain is introduced in this paper. Joint variables of the linkage´s passive joints are eliminated by loop closure equations and a dynamic model similar to that of a serial link robot can be obtained by the work and energy method. The new approach applies to planar or spatial linkages, and the systematic derivation of the dynamic model can be executed by a symbolic mathematic software package.<>
Keywords :
kinematics; robots; closed kinematic chains; dynamic models; linkage passive joint variables; loop closure equations; robot manipulators; serial link robot; symbolic mathematic software package; Belts; Couplings; Elbow; Gears; Kinematics; Kinetic energy; Manipulator dynamics; Nonlinear equations; Parallel robots; Tensile stress;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240440
