Kinematic and kinetic analysis of open-chain linkages utilizing Newton-Euler methods

Abstract

This paper presents some improvements in a Newton-Euler approach to spatial open-chain mechanism analysis introduced by one of the authors in an earlier publication. The improvements have to do both with the introduction of simplified notation and with more efficient computational procedures. The validity and utility of the method is illustrated by an application to the problem of calculating joint torques for the legs of a hexapod locomotion system. The results obtained agree well with experimental measurements and are also shown to satisfy a number of necessary conditions, thereby validating to some extent both the methodology and the corresponding computer program.