Analytical generation of the dynamical equations for mechanical manipulators

Abstract

A package to generate the symbolic dynamic equations describing the relation between forces and movements for serial mechanical linkages with rigid constituents is presented. The relative movement between the rigid parts is assumed to be either a rotation about an axis or a translation along an axis. Two algorithms are implemented, a Lagrange-Euler method and a Newton-Euler method. The former can be used to solve both the inverse and the forward dynamics problems, while the latter requires fewer arithmetical operations but only allows solution of the inverse dynamics problem. Two test examples are presented, the double pendulum and the modified Stanford manipulator

Men’s Artistic Gymnastics: a new high bar-gymnast model with sensitivity analysis

“…The 2D high bar model of Linge and Hallingstad [9] was extended with a planar 5 segment gymnast body model, generating the dynamic equations for the total model ( Figure 1) with ROBMAT [13]. In the high bar model of Linge and Hallingstad [9], the horizontal motion of bar endpoints is included so that three damped linear springs are used to model bar dynamics, two springs horizontally and one vertically.…”

Dynamic Modeling of a 2-RPU+2-UPS Hybrid Manipulator for Machining Application

“…While dynamic approaches, including the Lagrange method (Liu and Yu (2008), Wu et al (2014)), Newton-Euler method (Jalón and Bayo (1994), Zhang et al (2009)), Kane method (Cheng and Shan (2012)), principle of virtual work (Sokolov and Xirouchakis (2007)) and (Zhao et al (2009)), and screw theory (Gallardo-Alvarado et al (2008)) are commonly used and applied in manipulator dynamics (Horn and Linge (1995), Wu and Bai (2016)), this work adopts the principle of virtual work, under the consideration to eliminate the internal forces and effectively reduce the computational complexity.…”