Equations of Motion and Equations of Stress for Robots and Manipulators: An Application of the NEWEUL Formalism

Summary: This paper presents a method for analysing the dynamics of robots and manipulators and the stress distribution in their arms. The kinematics and dynamics of robots are obtained by using the symbolic formalism NEWEUL. The resulting equations describe the motion, provide symbolical expressions for actuator forces and torques and allow the computation of joint forces. The inertia forces of robot arms are originally distributed forces that have to be considered in the stress analysis of the links, especially in high speed motion.