Dynamic Modeling and Force Analysis on Revolute Joint of Mechanical Master-Slave Manipulator using RecurDyn

This paper presents a simulation result of dynamic reaction forces on the slave-arm revolute joint of the mechanical master-slave manipulator for remote handling of radioactive materials and nuclear processing. The dynamic modeling of the manipulator is established in the multi-body dynamics(MBD) simulation S/W of RecurDyn to verify the gear tooth contact force and bearing reaction forces on the revolute joint of its slave-arm on condition of the maximum handling load. For modeling the detailed parts of the revolute joints , two stages gear transmission; one bevel gear-pair and the other spur gear pair, and two support rolling bearings are defined with mechanical properties. As results of the force analysis, the reaction forces on gearing and bearings which are used to address the improvement of the joint design are shown for the manipulator.