Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Symbolic Generation of Dynamic Equations and Modeling of a Parallel Robot

기호 운동방정식 생성과 병렬형 로봇 모델링

  • 송성재 (원주전문대학 자동차과) ;
  • 조병관 (한국기술교육대학 동력기계공학과) ;
  • 이장무 (서울대학교 기계설계학과)
  • Published : 1996.01.01
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Abstract

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.

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