Dynamic analysis of geared robotic mechanisms by the concept of torque transmission

An efficient two-step methodology for the inverse dynamics of geared roboti c mechanisms (GRMs) is developed. In the first step, with the effective ext ernal forces, input transmitted forces are computed from the moment balance equation along axes of rotation starting from the end primary link backwar d along the heavy-edged path in a mechanical transmission line (MTL). The c omputation begins from the highest level MTL towards the lowest level MTL, one or two level at a time depending on the topological structure of the GR M. It is shown that the dynamic equations can be efficiently established fr om the computed input transmitted forces. In the second step, the remaining unsolved reaction forces are evaluated link-by-link backward along the hea vy-edged paths from the highest level MTL to the lower level ones. Thus, th e inverse dynamic problem can be solved efficiently and systematically with out solving the entire system of equations simultaneously. (C) 1999 Elsevie r Science Ltd. All rights reserved.