Dynamic analysis of geared robotic mechanisms by the concept of torque transmission

An efficient two-step methodology for the inverse dynamics of geared robotic mechanisms (GRMs) is developed. In the first step, with the effective external forces, input transmitted forces are computed from the moment balance equation along axes of rotation starting from the end primary link backward along the heavy-edged path in a mechanical transmission line (MTL). The computation begins from the highest level MTL towards the lowest level MTL, one or two level at a time depending on the topological structure of the GRM. It is shown that the dynamic equations can be efficiently established from the computed input transmitted forces. In the second step, the remaining unsolved reaction forces are evaluated link-by-link backward along the heavy-edged paths from the highest level MTL to the lower level ones. Thus, the inverse dynamic problem can be solved efficiently and systematically without solving the entire system of equations simultaneously.