Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
Lagrange’s, Maggi’s and Kane’s equations applied to the dynamic modeling of a serial manipulator
Submission Author:
Fernando Malvezzi , SP
Co-Authors:
Fernando Malvezzi, Renato Maia Matarazzo Orsino, Tarcisio Antonio Hess Coelho
Presenter: Fernando Malvezzi
doi://10.26678/ABCM.DINAME2017.DIN17-0082
Abstract
Robot manipulators have been employed in many types of industries, such as pharmaceutical, chemical, automotive, aerospace, etc. A robot manipulator is a mechanism used to move an object along a given trajectory. Topologically, the mechanism can be constituted by parallel or serial chains. The serial kinematic chain is formed by links connected sequentially by joints. On the other hand, a parallel robot is a mechanism in which a moving platform is connected to a reference member by at least two limbs. The aim of this work is to obtain a qualitative comparison among three approaches typically applied to the modeling of multibody mechanical systems. The chosen system is a serial robot manipulator and the three approaches are based on the use of Lagrange’s, Maggi’s and Kane’s equations. The purpose of modeling is to obtain the equations of motion of this serial robot manipulator.
Keywords
multibody dynamics, Kinematics, Analytical Mechanics, Lagrangian formulation, Kane formalism, Manipulators, Maggi's equations, Kane's formalism, Robotic manipulators
