Simulation of Robot Arm Dynamics Using N-E Method of 2-Link Manipulator

Abstract

This paper presents a solution of dynamic equation representing the behavior of a 2-DOF robot arm often called manipulator. The manipulator consists of two-link and two revolute joints which can rotate about the z-axis, perpendicular to the plane of the paper. The relationship between the torque and the angular displacement of each joint is represented by Newton-Euler (N-E) model of the two-coordinate frame robot arm. The non-linear 2 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">nd</sup> order differential equations of non-dimentionalised N-E model can be solved by using a phase-variable model of four first-order simultaneous equations. Then, the transient of angular positions and angular velocities of each link member are plotted for a fixed applied torque ratio. The graphical representation of the solution gives the most suitable torque ratio of the two joints that exhibits acceptable results in terms of angular displacements and angular velocities.