Dynamic Modeling Method of Multibody System of 6-DOF Robot Based on Screw Theory

An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research multi-degree freedom (DOF) robots relatively unexplored and needs to be solved urgently. In this paper, modeling method multibody system 6-DOF robot proposed based on the screw theory. established has more concise unified mathematical form, modular matrix expression convenient robot. order ensure that suitable motion in wide range angles, quaternions are used as generalized angular coordinates, thereby eliminates singularities improves computational efficiency. correctness accuracy verified by simulation example, theory can provide theoretical basis