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What is Dynamics of PPP Manipulator Analysis about?

This document provides an example of computing the dynamics of a 3-link prismatic manipulator (PPP manipulator) using both the Euler-Lagrange and Newton-Euler formulations. It defines the manipulator as having joints that actuate in the vertical, horizontal, and horizontal directions. It then calculates the inertia matrices of each link and determines that D(q) is constant. Using the Euler-Lagrange formulation, it derives the dynamical equations as (m1 + m2 + m3)q̈1 + (m1 + m2 + m3)g = f1, (m2 + m3)q̈2 = f2

Author

Ali

Language

EN