Rotation-Rotation Mechanism moving with Respect to a Plane

Abstract

The relative motion of a robotic arm formed by homogeneous bars of different lengths and masses, hinged to each other is investigated. The first bar of the mechanism is articulated on a platform, considered for three cases: placed on the surface of the Earth, so it is fixed; located on Earth, but in rotation with respect to it and in the final case, located on a space station, moving around the Earth. For all the analyzed cases the motion equations are determined using the Lagrangian formalism.

Keywords

• lagrange equations
• relative motion
• inertial and non-inertial reference frame