A general multi-rigid body dynamic modeling procedure applied to a three axes mixed-loop base driven robot

الملخص EN

This paper introduces a general procedure for modeling the dynam- ic behavior of multi-rigid body systems having kinematic constraints between their various elements.

This procedure is based on the principle of virtual work.

Two sets of varying parameters are generated for the description of the kinematics of the system.

These two sets are: The dependent and the indepen- dent coordinates.

A set of constraint equations relates the two sets of coordi- nates.

The virtual work principle is derived for the complete system using the dependent set of coordinates.

The coordinate variation are related by the con- straint equations leading to a reduced system of equations using only the selected independent degrees of freedom of the system.This procedure simpli- fies the modeling of large multi-rigid body systems subjected to kinematic constraints.

This simplification in the procedure does not result in an increase in the number of equations of motion that defines the system's dynamics.

A detailed numerical example, in which the features of the modeling procedure are emphasized, is presented.

This numerical example introduces a spatial mixed loop robot with the unique feature of having all the driving motors fixed to the base of the robot.