DYNAMIC MODELING OF COOPERATIVE MANIPULATOR WITH CONSIDERING THE COMMON OBJECT INTERNAL STRESS, Optimal distribution of motors energy and dynamic load CARING capacity

In this paper, dynamic model of r cooperative manipulators with n_m links derived by using recursive Gibbs-Appell formulation. Object grasped fully constrained by the manipulator’s end effector and manipulators transport the object simultaneously. For computing the system equations, first the object and manipulators dynamic equations developed independently. Therefore, by preparing the constraint equations, the end effectors and object inter connection forces and torques omitted for the constrained equations. By arranging these equations, the final form of motion equations in joint space evaluated. Next, the forward dynamic equations simulated by MATLAB software and compared with ADAMS software. For inverse dynamic solution, with considering the joints redundancy, two proper solution selected among appropriated one. In the first case, the solution chosen by considering the force extracted on the object by the manipulators. While, the force only cause the object manipulation and omitted the object internal force and stress. For the second one, optimum torques computed using Lagrange multiplier method and defining a cost function with assuming the arbitrary energy distribution between manipulator’s joints. At the end, the dynamic load carrying capacity calculated in all methods.