Dynamic Effects of Active Elements in Manipulators and their Influence upon the Controlling Drives

  • K. Desoyer
  • P. Lugner
  • H. Springer
Conference paper
Part of the IUTAM Symposium book series (IUTAM)


Approximate equations of motion for tree-structured robots and manipulators can be obtained by neglecting relative rotational inertia effects of the active elements(motors) that drive the links of the system. Starting from these equations the Gibbs-Appell(GA)-calculus is used in this paper in order to determine generalized mass matrices and gyroscopic forces that take care of the dynamics of the active elements in the system.

Additional terms have then to be added to the original equations of motion without further changes. It is shown how the GA-function of a robot is modified when the links are considered as gyrostats carrying axissymmetric rotors. For a three-link RRR-manipulator an example is carried out that studies various effects upon the controlling drives of a robot.


Multibody System Rotatory Inertia Gear Ratio Inertial Tensor Gyroscopic Effect 
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Copyright information

© Springer, Berlin Heidelberg 1986

Authors and Affiliations

  • K. Desoyer
    • 1
  • P. Lugner
    • 1
  • H. Springer
    • 1
  1. 1.Department of Mechanical EngineeringTechnical University of ViennaAustria

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