DYNAMIC ANALYSIS OF GEARED ROBOTIC MECHANISMS USING GRAPH-THEORY

In this paper, an efficient methodology for the dynamic analysis of ge ared robotic mechanisms is presented the approach makes use of the top ological structure of mechanical transmission lines to simplify the an alysis. The links in a geared robotic mechanism are divided into sever al levels. Each level contains one primary link and several secondary links. it is shown that the inverse dynamic problem cml be solved fron t the highest level links toward the base link, one or two levels at a time depending on the topological structure of the mechanical transmi ssion lines. Thus, the inverse dynamic problem can be solved without t he need of simultaneously solving the entire system of equations. A tw o degree-of-freedom manipulator is used to illustrate the procedure.