Abstract
In this paper, a systematic algorithm for the dynamic analysis of 4R 3-DOF wrists is presented. Based on the theory of graph, kinematics is completed. Links are divided into primary links and secondary links. The generalized inertia force of the system results from the motions of primary links and secondary links. The concept of virtual 3R 3-DOF open-loop chain and additional link are introduced to describe the primary links. The generalized inertia forces of 3R 3-DOF open-loop chain, additional link and secondary links are derived by Lagrangian formulation, respectively, based on their location in the wrist. Then the dynamic equation of 4R 3-DOF wrists is got by making a combining. A simulation is performed to illustrate the efficiency of the algorithm.
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