Dynamic Modelling of the Spring Attached Two-Link Planar Manipulator

Robot dynamics is required for simulation, control, analysis of robot motion planners and controllers. There are a number dynamic modelling investigations robots with the different approaches these mostly focus on link flexibility, joint friction or actuator dynamics. In addition to that studies present model without any attached linear torsion springs. this study, two-link rigid manipulator springs presented using Lagrangian approach. The approach variational method relies potential kinetic energy mechanism, making it well-suited planar considered in study. Initially, mechanism equations derived Subsequently, two joints existing modified accordingly. study also presents kinetic, total energies link-manipulator, angular positions links their velocities. By considering spring manipulator, contributes understanding manipulators effects