Gantry Robot Dynamic Analysis Based on Lagrange’s Motion Equation

摘要

The dynamic problem is defined as the way the motion of the robot arises due to the torques and forces applied at the joint by the actuators. The motion undergone by robotic mechanical system should be as, a rule, as smooth as possible, abrupt changes in position, velocity, and acceleration should be avoided. Indeed, abrupt motions require unlimited amounts of power to be implemented, which the motors cannot supply because of their physical limitations. In this paper an analytical solution for the dynamics of 3 DOF gantry robot presented to achieve those goals, so our aims is to model the dynamics of gantry Robot for simple pick and place application. Equations of motion are derived using the Lagrange equations of the second order, the dynamical model of robot was developed, and the gantry robot system was modeled in SOLIDWORKS software environment and it was simulated using ADAMS software. The manipulator is composed by four basic modules defined as module X, module Y, module Z and terminal arm, where is connected the end-effector.