Volume 16, Issue 6 (2016)                   Modares Mechanical Engineering 2016, 16(6): 127-137 | Back to browse issues page

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Khoshnood A, Azad E, Razavi S M A. Dynamics modeling of open-chain terrestrial and space robots using a form of Boltzmann-Hamel equations. Modares Mechanical Engineering. 2016; 16 (6) :127-137
URL: http://mme.modares.ac.ir/article-15-3918-en.html
Abstract:   (2229 Views)
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.
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Article Type: Research Article | Subject: Dynamics, Cinematics & Mechanisms
Received: 2016/01/9 | Accepted: 2016/03/24 | Published: 2016/06/19

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