Inversed dynamics of the cincinnati-milacron wrist robot

Abstract

Recursive matrix relations in dynamics of the Cincinnati-Milacron wrist robot are established in this paper. The prototype of this mechanism is a three-degrees-offreedom spherical system with six moving links and three bevel gear pairs. Controlled by electric motors, three active elements of the robot have three independent rotations. Supposing that the position and the rotation motion of the end-effector are known, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but the results have been verified in the framework of the Lagrange equations of second kind. Finally, some recursive matrix relations and some graphs for the torques and the powers of the actuators are obtained.