Dynamic Model Derivation of a 3RRR Robot Based in Screw Theory

Abstract

In this article a technique to obtain a dynamic model of a 3RRR robot from its kinematic model based on screw theory is proposed, which allows to obtain the open or closed robot kinematics. First the kinematic model is obtained in a compact form and then the dynamic model is obtained from the Euler Lagrange method, with this the simplicity and compactness characteristics are transferred to the dynamic model. The dynamic model is obtained initially for the actuated joints and then for the effector coordinates through its interrelations. To prove the effectiveness of this theoretical derivation the obtained model is tested with a proportional-derivative controller (PD) because it provides a simple control strategy that can be extended later to more effective controllers.

Keywords

• Cinemática
• Dinámica
• Robot Paralelo
• Teoría de Screws
• Robot 3RRR