An enhanced inverse dynamic and joint force analysis of multibody systems using constraint matrices

In this paper, a new way of computing the constraint transfer matrix for the inverse dynamic and joint force analysis of multibody systems is developed. The method is based on the Newton–Euler method and the screw theory notations. This method is first developed in (Taghvaeipour et al. in Multibody Syst. Dyn. 29(2):139–168, 2013), however, in this study, it is efficiently modified by incorporating a unified constraint transfer matrix for all types of joints. This change makes both the derivation of the equations and the computations less time consuming. Moreover, in the foregoing procedure, the constraint wrenches of a system are obtained in one reference frame, namely, the global reference frame. As a case study, the proposed method is carried out on the agile wrist which is a three-legged spherical parallel robot with three degrees of freedom. At the end, the results obtained by the modified method are verified with the ones calculated by the original procedure and a software package.

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