Dynamics Analysis and Simulation of Five Bar Cobot Based on Kane Method

Cobot(collaborative robot) is a new kind of robot,and it intended for direct collaborative work with a human op-erator.A formulation based on Kane Equation and kinematics of five bar Cobot was educed,which includes free and con-straint mode.The velocities of the two bars which linked to base joint were chosen as generalized velocities.The partial ve-locity of each bar centroid and the partial angular velocity of each bar were educed.The numerical simulation of the dynam-ics was carried out by using MATLAB software.The simulation results show that the Cobot has passive and constraint char-acteristics.The dynamics can provide theoretical bases for analysis and simulation of the Cobot control and so forth.