Abstract
The paper focuses on the kinetic modelling of multilink manipulators performing large rigid body motion by using the quantitative velocity distribution approach. The equations of motion are derived by using the Lagrangian and principle of virtual power. A kinetic finite element model of a multilink serial manipulator performing plane motion has been presented. For sake of illustration a simple numerical example of a two-link manipulator is considered. The variation of the joint torques acting along the translatory path of the end effector are calculated to show the merit of the present method compared to the traditional one.
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