Dynamic Modeling of Geared and Flexibly Jointed Manipulators

This paper is concerned with the modeling and simulation of robot manipulators with gear systems and flexible joints. A recursive Newton-Euler model and a Lagrange-Euler model for geared manipulators and flexibly jointed manipulators are developed using the Spatial Operator Algebra. The Newton-Euler approach leads to a method for the simulation of geared manipulators and flexibly jointed manipulators in which the number of computations grows linearly with the number of links. Bt using this model, the dynamic effect of spinning motors and gears is evaluated. The modeling technique is applied to the development of an accurate dynamic model for a PUMA 560.