Dynamics of 3 – Links Articulated Robotic Manipulator: A Computational Model
Chukwuemeka C. Obasi1, Ikharo A. Braimoh2, Alphaeus Odaba3, Leonard Iyase Ogbewey4, Bambe A. Oluyomi5
1Chukwuemek C. Obasi*, Department of Computer Engineering, Edo University Iyamho, Edo State Nigeria.
2Ikharo A. Braimoh, Department of Computer Engineering, Edo University Iyamho, Edo State, Nigeria. Email: ikharo.
3Alphaeus Odaba, Electrical Electronics Engineering Department, Air Force Institute of Technology, Kaduna, Nigeria.
4Leonard Iyase Ogbewey, Computer Engineering, Federal Polytechnic, Offa, Kwara State, Nigeria.
5Bambe Adeduntan Oluyomi, Computer Engineering, Federal Polytechnic, Offa, Kwara State, Nigeria.
Manuscript received on May 06, 2020. | Revised Manuscript received on May 15, 2020. | Manuscript published on June 30, 2020. | PP: 1908-1912 | Volume-9 Issue-5, June 2020. | Retrieval Number: C5370029320/2020©BEIESP | DOI: 10.35940/ijeat.C5370.029320
Open Access | Ethics and Policies | Cite | Mendeley
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Dynamic computation include the process of determining the forces and energies that would cause a manipulator to move certain distance at a given angle. The complex nature of available materials has made this process difficult. The dynamics equation for a 3-links robotic manipulator was designed using the Lagrange archetypal. The result shows that the energies (including Potential and Kinetic Energy) as well as the torques required to cause motion at each joint can be computed separately. The torque equations represents the dynamic models required.
Keywords: Dynamic equation; Robotic manipulator; force; energy; Newton—Euler; Lagrange.