Lecture 32 : General procedure for dynamics equation forming and introduction to control
Considering motion of link 2 only , tangential velocity of mass M2 will be =
Now consider an imaginary link AB as shown in fig. which will be always parallel to tangential velocity of link 2. This imaginary link is assumed to be fixed rigidly to 1st link. So it will be rotating with the same angular velocity & in the same sense as that of 1st link.
Now the imaginary link AB alongwith mass M2 will be analogous to our standard rotary crank & slider system.
(C)
Eqn of standard 2-R manipulator. for link 1
terms given by equations (A), (B), & (C) if compared with the respective terms in standard 2-R manipulator equation, we will see that they are same the only difference is due to the distributed mass. If that taken into account as effective mass they will represent same equation.
(C)
