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Tutorial 8 - Newton-Euler Equations

This document provides information about formulating Newton-Euler equations for a 2 degree-of-freedom planar robotic arm. It includes [1] figures of the robotic arm setup, [2] relevant kinematic expressions, [3] masses and inertia properties of the links, and [4] questions about writing the Newton-Euler equations and deriving the equations of motion for the system.

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Duc Nguyen
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117 views2 pages

Tutorial 8 - Newton-Euler Equations

This document provides information about formulating Newton-Euler equations for a 2 degree-of-freedom planar robotic arm. It includes [1] figures of the robotic arm setup, [2] relevant kinematic expressions, [3] masses and inertia properties of the links, and [4] questions about writing the Newton-Euler equations and deriving the equations of motion for the system.

Uploaded by

Duc Nguyen
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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MCEN90038 Dynamics

Tutorial 8 – Newton-Euler Equations


Outline: in this tutorial you will formulate the Newton-Euler equations and extract equations of
motion and equations of constraint forces/moments.

Consider the 2-degrees-of-freedom (2 DoF) planar robotic arm shown in Figure 1. Dimensions and
points of interest are given in Figure 2. The mechanism shown is in the vertical plane 𝒚𝒚0 − 𝒛𝒛0 and
gravity acts in the −𝒛𝒛0 direction. The mechanism is actuated by two motors in the revolute joints:

- The motor at point 𝑂𝑂 applies torque 𝜏𝜏1 on link 1 such that when it is positive, it acts to
increase 𝛼𝛼
- The motor at point 𝑃𝑃 applies torque 𝜏𝜏2 on link 2 such that when it is positive, it acts to
increase 𝛽𝛽

Figure 1 Figure 2

Link 1 has mass 𝑚𝑚1 and its centre of mass is located in 𝐺𝐺1 . Link 2 has mass 𝑚𝑚2 and its centre of mass
is located in 𝐺𝐺2 . The inertia tensors of the links about their respective centres of mass are:

𝐼𝐼1𝑥𝑥 0 0 𝐼𝐼2𝑥𝑥 0 0
1 𝐺𝐺1 2 𝐺𝐺2
𝐼𝐼1 =�0 𝐼𝐼1𝑦𝑦 0� ; 𝐼𝐼2 =�0 𝐼𝐼2𝑦𝑦 0�
0 0 𝐼𝐼1𝑧𝑧 0 0 𝐼𝐼2𝑧𝑧

Remark: when 𝜏𝜏1 = 0, this mechanism is called “Acrobot” and when 𝜏𝜏2 = 0, it is called “pendubot”.

Q1.
Write down the Newton-Euler equations for the mechanism (Link 1 and Link 2).
For your convenience, you can use the kinematic expressions in the next page.

Q2.
Find the equations of motion for the mechanism.
𝛼𝛼̇
1
𝝎𝝎1 = � 0 � ,
0

𝛼𝛼̇ + 𝛽𝛽̇
2
𝝎𝝎2 = � 0 �
0
0
1
𝒓𝒓̈ 𝑂𝑂𝐺𝐺1 = �−𝛼𝛼̇ 2 𝐷𝐷1 �
𝛼𝛼̈ 𝐷𝐷1

0
2
= �𝛼𝛼̈ 𝐿𝐿1 sin 𝛽𝛽 − 𝛼𝛼̇ 𝐿𝐿1 cos 𝛽𝛽 − �𝛼𝛼̇ + 𝛽𝛽̇ � 𝐷𝐷2 �
2 2
𝒓𝒓̈ 𝑂𝑂𝐺𝐺2
𝛼𝛼̈ 𝐿𝐿1 cos 𝛽𝛽 + 𝛼𝛼̇ 2 𝐿𝐿1 sin 𝛽𝛽 + �𝑎𝑎̈ + 𝛽𝛽̈ �𝐷𝐷2

Q3.

The following system has been introduced in tutorial 3. In this tutorial try to use the same
information provided in tutorial 3 to find the Newton-Euler equations for the blue disc and the
green disc.

Consider the following information in your calculations.

Mass of the black bar is 𝑚𝑚1 , mass of the blue disc is 𝑚𝑚2 and the green disc has a mass of 𝑚𝑚3 . The
radius of the blue disc is 𝑟𝑟1 . The length of the black link is 𝑙𝑙2 and the radius of the green disc is 𝑟𝑟3 .

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