Dynamics of the Manipulator with Closed Chains

Shir-Kuan Lin*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

16 Scopus citations


This communication uses the concept of dynamic equilibrium to derive a relation with which the actuator forces of a manipulator with a closed kinematic chain can be calculated like those of a manipulator with an open chain. Although the result is equivalent to Luh and Zheng's [1], the present method provides the physical insight of dynamics of the manipulators with a closed kinematic chain. This relation also leads to the dynamic equations of motion with a minimal dimension for a closed kinematic chain. The semi-direct-drive robot is taken as an illustrative example. The numerical results verify the theory. The computational complexity of the inverse dynamics of this robot is also discussed.

Original languageEnglish
Pages (from-to)496-501
Number of pages6
JournalIEEE Transactions on Robotics and Automation
Issue number4
StatePublished - Aug 1990

Fingerprint Dive into the research topics of 'Dynamics of the Manipulator with Closed Chains'. Together they form a unique fingerprint.

Cite this