DYNAMICS MODELING OF LAGRANGIAN MECHANISMS FROM INERTIAL MATRIX-ELEMENTS

This paper deals with the modeling of the dynamics of multi-body mecha nisms without mechanical loops. The process is realized through an unu sual computational scheme that is based on the handling of Christoffel symbols of first kind. Specifically, Lagrange's equations are used to design the joint space inertial matrix, but contrary to usual approac hes, the Coriolis and centrifugal torques are derived from the inertia l matrix elements. The symbolic FORM-program which is provided, is use d to generate the dynamical equations of a 3-degree-of-freedom system, and its capabilities to formulate on PCs a PUMA-560 robot model are r eported.