Modelling and analysis of nonlinear multibody dynamic systems

Abstract

Modular self-reconfigurable robots are characterised by a high versatility. While most robots are designed for a special purpose these robots are designed to be multi-talented and adaptive. This thesis uses a modern framework for the automatic model generation of these modular self-reconfigurable robots. Based on a two-step Newton-Euler approach in combination with elements of screw-theory, this framework provides an elegant way to automatically calculate the equations of motion in a closed form. To simulate the kinematics and dynamics the framework has been implemented in MATLAB. To verify both the implementation and modelling, the equations of motion of two robot structures have been calculated using the framework and compared to the equations obtained by a Lagrangian approach. Finally it is shown that the linearisation and decoupling of the systems concerned in this thesis can be done easily using feedback linearisation. For completion two ways to control these linearised systems are demonstrated.