Robots manipulators are multibody systems with tree structures. In this paper the theoretical background of the computer program RobotDyn is presented. The program is developed using Lagrange's equations and Denavit-Hartenberg matrix. The dynamic simulation of the Robot SCARA with four degrees of freedom is considered as an example of application of the program RobotDyn. | Vietnam Journal of Mechanics , VAST , Vol. 26 , 2004, No. 4 (215 - 225) A CONTRIBUTION TO THE DYNAMIC SIMULATION OF ROBOT MANIPULATOR WITH THE SOFTWARE ROBOTDYN NGUYEN VAN KHANG, Do THAN H TRUNG · Hanoi University of Technology ABSTRACT Robots manipulators are multibody systems with tree structures. In this paper the theoretical background of the computer program RobotDyn is presented. The program is developed using Lagrange's equations and Denavit-Hartenberg matrix. The dynamic simulation of the Robot SCARA with four degrees of freedom is considered as an example of application of the program RobotDyn. 1 Int roduction The simulation of robotic manipulators is a very important issue. Dynamic simulation is usually performed in two steps: (1) generation of the dynamics model and (2) solution of the model. Since t he dynamics equations of robot manipulator are highly nonlinear and coupled , the analytical solution of such equations is thought to be impossible. Hence numerical approaches have to be used . The development of the computer-oriented methods for t he generation of dynamic robot models can roughly be divided into three groups: 1. Numerical methods, 2. Numerical-symbolic method, 3. Symbolic methods. This is also the chronological order of development of t he modeling techniques. The later the model appeared, the less computational harden it offered. Naturally, the model generation algorithms are more and more complex. In t his paper , the generation of t he dynamic model of robot manipulators using t he Lagrange's equations is revised. A computer program for the dynamic analysis of Robots based on Maple Software is built at the Hanoi University of Technology, and called as program RobotDyn. The RobotDyn program has often been used for analysis of the Robot manipulators. ' 215 2 Theoretical background of the software RobotDyn The D enavit-Hartenberg Matrix In order to compute the direct. kinematics equat ions for an open-chain manipulator , .
