Dynamics of a Three Degree of Freedom Kinematic Chain

Abstract

In order to be able to design a control system for high-speed control of mechanical manipulators, it is necessary to understand properly their dynamics. Here we present an analysis of a detailed model of a three-link device which may be viewed as either a "leg" in a locomotory system, or the first three degrees of freedom of an "arm" providing for its gross motions. The equations of motion are shown to be non-trivial, yet manageable.