1
Professor of Mechanical Engineering of Iran University of Science and Technology
2
Ph.D Candidate of mechanical engineering of Iran University of Science and Technology (IUST)
Abstract
The equation of Motion by Gibbs - Appell formulation has been used the least for deriving the dynamic equations of manipulator robots. So, in this paper a new systematic method for deriving the equation of motion of n - rigid robotic manipulators with revolute - prismatic joints (R - P - J) is considered. The equation of motion for this robotic system is obtained based on (G - A) formulation. All the mathematical operations are done by only 3×3 and 3×1 matrices. Also, all dynamic characteristics of a link are expressed in the same link local coordinate system. Based on the developed formulation, an algorithm is proposed that recursively and systematically derives the equation of motion. Finally, a computational simulation for a manipulator with three (R - P - J) is presented to show the ability of this algorithm in deriving and solving high degree of freedom of robotic system.
Habibnejad Korayem,M. and shafei,A. (2012). Application of Recursive Gibbs-Appell Formulation in Deriving the Motion Equation of Revolute-Prismatic Joints. Modares Mechanical Engineering, 12(3), 1-10.
MLA
Habibnejad Korayem,M. , and shafei,A. . "Application of Recursive Gibbs-Appell Formulation in Deriving the Motion Equation of Revolute-Prismatic Joints", Modares Mechanical Engineering, 12, 3, 2012, 1-10.
HARVARD
Habibnejad Korayem M., shafei A. (2012). 'Application of Recursive Gibbs-Appell Formulation in Deriving the Motion Equation of Revolute-Prismatic Joints', Modares Mechanical Engineering, 12(3), pp. 1-10.
CHICAGO
M. Habibnejad Korayem and A. shafei, "Application of Recursive Gibbs-Appell Formulation in Deriving the Motion Equation of Revolute-Prismatic Joints," Modares Mechanical Engineering, 12 3 (2012): 1-10,
VANCOUVER
Habibnejad Korayem M., shafei A. Application of Recursive Gibbs-Appell Formulation in Deriving the Motion Equation of Revolute-Prismatic Joints. Modares Mechanical Engineering, 2012; 12(3): 1-10.
