%0 Journal Article
%A Khoshnood, Abdolmajid
%A Azad, Es'hagh
%A Razavi, Seyed Mohammad Amin
%T Dynamics modeling of open-chain terrestrial and space robots using a form of Boltzmann-Hamel equations
%J Modares Mechanical Engineering
%V 16
%N 6
%U http://journals.modares.ac.ir/article-15-3918-en.html
%R
%D 2016
%K Boltzmann-Hamel equations, Quasi-coordinates, open-chain robots, space robots, terrestrial robots,
%X In this article, a form of Boltzmann-Hamel equations (Lagrange’s equations in terms of quasi-coordinates), different from the latter’s standard form and avoiding its structurally inherent complexity, is derived based on which a general algorithm for the dynamics modeling of open-chain terrestrial and space robots with an arbitrary number of rigid elements is presented. This form of Boltzmann-Hamel equations is shown to be particularly advantageous in terms of not requiring the determination of the kinetic energy as a function of generalized coordinates and quasi-velocities, representing generalized forces in terms of body basis vectors and offering a panoramic view of the dynamics of the systems. In the act of developing the algorithm, three highly useful kinematic identities are derived via a comparison between the single rigid body equations derived from both the standard and the proposed form of Boltzmann-Hamel equations. These identities are then used to greatly simplify the final dynamics model of both systems. Finally, the equations of motion for a two-link terrestrial robot is derived using the proposed algorithm and simulation results in MATLAB are compared with the model of the system in ADAMS to validate the model.
%> http://journals.modares.ac.ir/article-15-3918-en.pdf
%P 127-137
%& 127
%! Dynamics modeling of space robots using a form of Boltzmann-Hamel equations
%9
%L A-15-1000-2977
%+
%G eng
%@ 1027-5940
%[ 2016