A mathematical model is proposed for a revolute joint mechanism with an n-degree of freedom (DOF). The matrix approach is used for finding the relation between two consecutive links to determine desired link parameters such as position, velocity and acceleration using the forward kinematic approach. The matrix approach was confirmed for a proposed 10 DOF revolute type (R-type) human upper limb model with servo motors at each joint. Two DOFs are considered each at shoulder, elbow and wrist joint, followed by four DOF for the fingers. Two DOFs were considered for metacarpophalangeal (mcp) and one DOF each for proximal interphalangeal (pip) and distal interphalangeal (dip) joints. MATLAB script function was used to evaluate the mathematical model for determining kinematic parameters for all the proposed human upper limb model joints. The simplified method for kinematic analysis proposed in this paper will further simplify the dynamic modeling of any mechanism for determining joint torques and hence, easy to design control system for joint movements.

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This paper presents an application of Lagrange–Euler approach for dynamic analysis of three link with revolute type (RRR-type) rigid serial manipulators. MATLAB code is programmed for Lagrange– Euler approach for RRR-type serial manipulator for generating joint torque equations and plotting these joint torque values for given range of angular rotations. This study is useful for understanding the effect of combinations of link rotation on joint torque behaviour. Maximum value of required joint torques obtained can be used for selection of motors for any mechanism with serial links with revolute joints performing given task.

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