FORMULATION OF THE EQUATIONS OF MOTION OF RRRR ROBOT MANIPULATOR

In this paper the dynamic analysis of RRRR robot manipulator is presen ted. The equations of motion are formulated using a two-step transform ation. Initially, a dynamically equivalent system of particles that re places the rigid bodies is constructed and then Newton's second law is applied to derive their equations of motion. The equations of motion are then transformed to the relative joint variables. Use of both Cart esian and joint variables produces an efficient set of equations witho ut loss of generality. For open chains, this process automatically eli minates all of the non-working constraint forces and leads to an effic ient solution and integration of the equations of motion. The results of the simulation indicate the simplicity and generality of the dynami c formulations.