Lecture 31 : Robot dynamics equation (LE & NE methods) and examples
This is the standard 2nd order ordinary differential equation governing dynamics of spring-mass system. Note that here we have not considered internal reaction forces. In above example there is no term involving gravitational acceleration.Now we will consider example of single link. In this example term containing g will come into picture.
2.
Consider a single link alongwith a motor. Gear ratio between motor & manipulator is n:1
Figure 31.5 Single link manipulation
thus equation governing system dynamics is
In this example link is performing pure rotation. Hence it is very easy to find out its K.E.
