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Investigation on Kane dynamic equations based on screw theory for open-chain manipulators

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Abstract

First, screw theory, product of exponential formulas and Jacobian matrix are introduced. Then definitions are given about active force wrench, inertial force wrench, partial velocity twist, generalized active force, and generalized inertial force according to screw theory. After that Kane dynamic equations based on screw theory for open-chain manipulators have been derived. Later on how to compute the partial velocity twist by geometrical method is illustrated. Finally the correctness of conclusions is verified by example.

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Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Zhengzhou University, 450002, Zhengzhou, P. R. China

    Liu Wu-fa (Associate Professor, Doctor)

  2. School of Electromechanical Engineering and Automation, Shanghai University, 200072, Shanghai, P. R. China

    Liu Wu-fa (Associate Professor, Doctor), Gong Zhen-bang & Wang Qin-que

Authors
  1. Liu Wu-fa
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  2. Gong Zhen-bang
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  3. Wang Qin-que
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Corresponding author

Correspondence to Liu Wu-fa.

Additional information

Communicated by MA Xing-rui

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Wu-fa, L., Zhen-bang, G. & Qin-que, W. Investigation on Kane dynamic equations based on screw theory for open-chain manipulators. Appl Math Mech 26, 627–635 (2005). https://doi.org/10.1007/BF02466337

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  • DOI: https://doi.org/10.1007/BF02466337

Key words

Chinese Library Classification

Document code

2000 Mathematics Subject Classification

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