Dynamics and Dynamic Analysis of Manipulation Robots

The modern development of robotic mechanisms is rapidly increasing. A linear composite speed of manipulation robots now achieves 5 m/s and angular speed of their particular links (segments) surpasses 8 rad/s. This is not only characteristic of robots with small reachability, but also of robots with larger manipulator possibilities. Such an increase leads to a significant dynamic effect in robot mechanisms, necessitating a careful study of their dynamics. Adequate dynamic models of manipulation robots can be used for robot mechanism design, optimal choice of its actuators, and also for modern robot controller design. A mathematical model derivation of the dynamics of artropoidal robot configuration, frequently used today in industrial practice, is presented below.