Inverse dynamic analysis of robot manipulator with closed kinematic structure is performed in the paper. Dynamic model is developed using second generation blocks from Simulink/Simscape/SimMechanics library. Presented approach is applied on hobby robot uArm. Manipulator's links are created using 3D CAD models in form of step files. The mass and inertia properties of links are automatically calculated based on geometry defined by step files and link density, defined by user. The actuator torques acting at joints needed to acheive imposed joint motion are computed using inverse dynamics. Validity of the dynamic model is confirmed by comparison of coordinates of TCP obtained during simulation with analytical solution of direct kinematics.

Dynamic model of Stewart platform was developed using bond graph technique in the paper. Stewart platform has simple, compact structure with high stiffness, high strength-to-weight ratio that make it very desirable in manufacturing technology. Due to closed loop structure and kinematic constraints, dynamic analysis of such systems is rather complicated. The paper proposes a general, object oriented modelling formulation based on bond graph component model approach to develop dynamic model of a hexapod system. Model is developed and simulations were carried out using software package BondSim. Dynamic model is generated in form of differential-algebraic equation (DAEs) and solved by BondSim.

Visualisation becomes powerful tool in dynamic analysis of engineering application. Attention of the paper is focused on technique of visualization of closed-chain manipulators using BondSimVisual. The basic idea of the paper is to develop the models of manipulators from two points of view: the dynamic and geometric. The dynamic model is developed using a suitable bond graphs modelling and simulation environment (BondSim). To develop 3D model in a virtual scene another program the BondSimVisual is used. It is based on VTK visualization pipeline technology. These two models interact by two-way IPC (inter process communication) based on the named pipes. Thus, the two models appear as a single complex model running on the same or separate computers connected by a LAN. During the simulation, the models (the dynamic and visual) exchange the necessary information. The proposed approach is illustrated on two examples.

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