Lagrange's, Maggi's and Kane's Equations Applied to the Dynamic Modelling of Serial Manipulator

摘要

Robot Manipulators have been employed in many types of industries, such as pharmaceutical, chemical, automotive, aerospace, etc. A manipulator is a mechanism used to move an object along a given trajectory. Topologically, the mechanism can be constituted by parallel or serial chains. The serial kinematic chain is constituted by links connected sequentially by joints. The aim of this work is to obtain a qualitative comparison among three approaches typically applied to the modelling of multibody mechanical systems. The chosen system is a 5-DOF serial robot manipulator and the three approaches are based on the use of Lagrange's, Maggi's and Kane's equations. The purpose of the modelling is to obtain the equations of motion for this serial robotic manipulator. Some numerical simulations are performed to illustrate how the obtained models can be used to predict the dynamic behavior of the chosen system.