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Joint Parameter Estimation of Serial Manipulators Using Rigid Body Dynamics

K N V Swamy1 and A Gopi Chand2
1.M.Tech Student, Department of Mechanical Engineering, Swarnandhra College of Engineering and Technology, Narsapur, AP, India.
2.Professor and HOD, Department of Mechanical Engineering, Swarnandhra College of Engineering and Technology, Narsapur, AP, India.

Abstract—Use of Robotic manipulators is wide spread in Mechanical Industries. Serial Manipulators take the major share in this aspect. Rigid Body dynamics is an efficient tool for estimating effect of inertial loads on joint torques and thus help in generating a better control system for robotic manipulators. In the current work, the use of Rigid Body Dynamics using the motion analysis package in commercial software (Solidworks) is used. The results are verified analytically. Rigid Body Dynamic Analysis are also performed on 3DOF planar manipulator and 3DOF spatial manipulator. The results of simulations of 3DOF spatial manipulators are taken as input for stress analysis using FEA.

Index Terms—Rigid body dynamics, Motion analysis, Planar manipulator, Joint torque

Cite: K N V Swamy and A Gopi Chand, "Joint Parameter Estimation of Serial Manipulators Using Rigid Body Dynamics," International Journal of Mechanical Engineering and Robotics Research, Vol.3, No.4, pp. 725-734, October 2014.

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