A new approach to the dynamic models of robot manipulators with closed kinematic chains

Abstract

An effective way to formulate the dynamic model of a robot with a closed kinematic chain is introduced in this paper. Joint variables of the linkage's passive joints are eliminated by loop closure equations and a dynamic model similar to that of a serial link robot can be obtained by the work and energy method. The new approach applies to planar or spatial linkages, and the systematic derivation of the dynamic model can be executed by a symbolic mathematic software package. >