Dynamics Analysis for Open-chain Manipulators Based on Screw Theory Kane Dynamic Equations

摘要

The dynamics for open-chain manipulators is analyzed based on screw theory Kane dynamic equations.The process is given for how to formulate and solve the screw theory Kane dynamic equations. The results indicate that the Partial velocity twists of the links can be got by observing the instantaneous configuration and simple operations. The conclusion shows that solving the dynamics for open-chain manipulators by the proposed equations only needs addition, subtraction and multiplication operations. And theoretically, it is more effective than Lagrange-Euler and Newton-Euler robotic dynamic equations.