Abstract: Based on the Kane's eqs, a
new dynamical algorithm is presented. The algorithm is efficient
in solving the dynamical problems of closed-chain manipulators,
and characterized by a closed form. The computational equation
of the dividing computational method for manipulator dynamics is
derived too. A software package named DYNNS of computer
generating numeric-symbolic robotic model is programmed based on
the algorithm proposed. Numeric-symbolic dynamical equations of
the main structure of the arc welding robot YG-1 are derived
using the DYNNS.
Key words:
Manipulator Open chain Closed chain Numeric-symbolic
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