S. V. Shah1 S. K. Saha2 J. K. Dutt3
1 IIIT Hyderabad, India 23 Department of Mechanical Engineering, Indian Institute of Technology Delhi
This paper presents dynamics algorithms for multibody systems using the concepts of kinematic modules and Decoupled Natural Orthogonal Complement (DeNOC) matrices. A multibody system is treated as open-loop serial- or tree-type consisting of several modules, where each module consists of one or more than one serially connected links. In fact, it is shown how the knowledge for a serial system can be extended to a module of a tree-type system. The resulting equations are used to obtain recursive inverse and forward dynamics algorithms at inter- and intra-modular levels The methodology is illustrated using a tree-type four Degrees-of-Freedom (DoF) robotic gripper and 100-DOF serial-type rope system. It is also shown how efficiency of the proposed algorithm benefits as the DOF of a system becomes very large.