Dynamics Modelling and Experiment of Industrial Robots Based on Multibody Systems Transfer Matrix Method

This paper proposes a dynamics modeling method for industrial robots based on multibody systems transfer matrix method, aiming to overcome the computational complexity limitations of traditional dynamics modeling approaches in multi-degree-of-freedom systems. By decomposing the robot into modular subsystems (joints and links), the transfer matrices and equations that accurately characterize module’s mechanical properties are established. The system’s overall transfer equation is derived through sequential connection of component transfer matrices. The proposed method has the advantages of not requiring the global dynamics equations, high programmability and low system matrix order. A dynamics test platform for industrial robots is developed. First, the friction torque of each joint is identified using measured joint torque data. Subsequently, the dynamics model is combined to obtain the motion trajectory of the robot joint angle changes and joint angular velocity, and then verifies the simulation accuracy of the model.