A computationally efficient method for manipulator dynamic analysis

摘要

AbstractA computationally efficient method for manipulator dynamic analysis is presented. This method adopts two schemes to improve the computational efficiency. First, it takes the advantage of the following geometric feature of most manipulators: For the first three‐degree‐of‐freedom (DOF) mechanism (positioning mechanism), all the links are moving in a principal plane that is rotating about the base axis with respect to the ground. With this geometry, only three equations of motion per link, two equations for the forces in the principal plane and one equation for the moments which are perpendicular to the principal plane, are needed for the inverse dynamic analysis of the first three‐DOF motion. Thus, the number of equations can be reduced to half. Second, this method adopts longitudinal and transverse force components at certain joints in the formulation of equations of motion. This eliminates the need of a simultaneous solution of many equations, which is necessary in conventional Newton‐Euler method. Hence, this method is more computationally efficient than the many existing dynamic analysis methods. Two examples, one is closed‐chain type and the other is open‐chain type, are used as