Automatic separation method for generation of reconfigurable 6R robot dynamics equations

摘要

A reconfigurable 6R kinematic robotic model, named the Reconfigurable Puma–Fanuc (RPF) model, was developed by leveraging the similarities between different robotic systems in a unified approach. This model involves properties of all unified robots which allow the robot model to easily change from one configuration to another which produce this model to be reconfigurable. The objective of this study is to automatically generate dynamic equations for the RPF model. For the symbolic calculation of the RPF dynamic equations, the recursive Newton–Euler algorithm is employed using the symbolic algebra package MAPLE 10®. This dynamic model is named the Reconfigurable Puma–Fanuc Dynamic Model (RPFDM). The significance of the RPFDM is that it automatically generates each element of the inertia matrix A, Coriolis torque matrix B, centrifugal torque matrix C, and the gravity torque vector G using newly developed Automatic Separation Method (ASM). The RPFDM model is extended to the RPFDM+ model by coupling the dynamics of the actuator motors. As a numerical example, the dynamic equations for the PUMA 560 robot are obtained and compared to parameters presented in the literature. Keywords Industrial 6R robots - Dynamics - Reconfigurable model - Recursive Newton–Euler method - PUMA 560 - Actuators