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Example of dynamie model of SCARA (RRPR) manipulator

D(q)q+C(q,q)+G(q)=i

r, = (2.7167 + l.95C₂)ćj + (0.95 + 0.975C₂)ą - O.lćj, -\.95S₂ÓĄ - 0.915Sj₂ r₂ =(0.95 + 0.975C₂)6j + 0.95& -0.10₄ +0.975S₂Ą² /₃ = 2 Ad ₃ —2Ag

t, = -o.ićj-o.ią+o.ią

where: 8_I;    d₃, 6₄ are joint variables

z_p r₂,f₃, r₄ are generał i zed forces 5'₂=sin(0₂), C,=cos(ćy, g-gravitational acceleration

KADOMS KRIM, WIMIR, AGH Kraków 14