Kinematic and dynamic analysis of 3-DOF Rotary Table manipulator

Abstract

3-DOF Rotary Table manipulator is a robotic mechanism which brings about spatial rotational movements. This mechanism helps to make a movement scenario in order to test Guidance and Navigation Systems of moving vehicles. It has complicated dynamic equations which are crucial for control objectives. In this paper, we study applicable kinematics of this manipulator. Afterward, we choose the best kinematics and try to get the dynamic equations by applying the Newton's Second Law for Rotation. We use the Newton's Second Law instead of using common methods in robotic modeling such as Denavit-Hartenberg and Newton-Euler methods. We have extracted full dynamic equations that contain all designing parameters such as Moment of Inertia factor in all round and even the unbalanced and wobble effect. Finally we have verified obtained equations by simulation.