Chapter 5 : Dynamic Force Analysis

The Carpal Wrist is a novel, parallel-architecture device with many innovative features desirable in a robotic wrist. This chapter compliments the kinematic analysis of the Carpal Wrist presented in the previous chapters by characterizing the dynamics of its parallel structure. Previous static analysis has verified the improved force bearing capacity of the Carpal Wrist, inherent in many parallel devices (Ganino, 1996). In this chapter, the parallel structure is shown to be particularly advantageous when considered dynamically, due to it’s light-weight structure and multiple load bearing members. The dynamic equations of motion are derived in closedform by direct application of Lagrange’s equations to the kinematic model. The model assumes a massive tool and includes all gravitational, inertial, and gyroscopic effects. The equations of motion provide closed-form evaluation of the actuation moments based on general tool trajectories.