MEC 403 - Robotics 2

Lecture 6
Dynamic Force Analysis II
Newton-Euler Formulation

Inertia Tensor
Inertial frame:
Frame at rest or moving with constant velocity.

Non-Inertial frame:
Frame that is moving with some acceleration

Inertial Tensor I:

 It is an inertia matrix for a body having space motion.

 The inertia tensor for body rotating about a fixed point other than its
center of mass is given by:

Where:

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 Inertia Tensor
Exercise:
Prove that the element Ixx of the inertia tensor of a
solid cuboid rotating about the x-axis is given by:

Proof Hint:
Carry out the integration below where 𝜌 is the density of the solid cuboid to
get the result.

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Translation of Inertia Tensor

Example 1:
Determine the inertia tensor 𝐴𝐼 of a solid cuboid
rotating about a fixed-point A :

Solution:

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 Translation of Inertia Tensor
Parallel axis theorem

Given the inertia tensor about the center of mass of

a body, determine the inertia about another point A
shifted a certain distance r from the center of mass.

Moments of inertia:

Product of inertia:

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Inertia Tensor
Example 2:
Find the inertia tensor 𝐶𝑀𝐼 of a cuboid rotating about
its center of mass COM, given its value 𝐴𝐼 about the
Point A shown.

Solution:
From example 1, we have

Example of Example of off

diagonal term iagonal term

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 Inertia Tensor
Example 2 (contd.):
Find the inertia tensor 𝐶𝑀𝐼 of a cuboid rotating about
its center of mass COM, given its value 𝐴𝐼 about the
Point A shown.

Solution:

Remark: Moving the axes of rotation to the center of mass

always results in a diagonal inertia tensor.
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Newton-Euler Formulation
Inward iterations to compute forces and torques

As done in static force analysis, assume:

fi = force exerted on link i by link i − 1,
ni = torque exerted on link i by link i − 1
Fi = Inertial force acting on link i
Ni = Inertial torque acting on link i

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 Iterative Implementation of
Newton-Euler Formulation (4 Steps)
Step 1 (outward iterations, i: Base 0 – Last Link n) : Compute with the linear
acceleration of the mass center of each link (𝑣𝑐𝑖 ) and its angular
accelerations (𝜔𝑖 ) (kinematics Part – Use Equations 6.45 – 6.48 Craig’s Text)

Step 2 (outward iterations, i: Base 0 – Last Link n) : Apply the Newton–Euler

equations to compute the inertial force and torque acting at the center of mass
of each link. (kinetics Part – Use Equations 6.49 – 6.50 Craig’s Text)

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Iterative Implementation of
Newton-Euler Formulation
Step 3 (Inward iterations, i: Last Link n –First Link 1) : Write the force-balance and
moment-balance equations based on the free-body diagram of each link. Arrange so
that the equations appear as iterative relationships from higher numbered link to
lower numbered link
(kinetics Part – Use Equations 6.51 – 6.52 Craig’s Text)

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 Iterative Implementation of
Newton-Euler Formulation
Step 4 (Inward iterations, i: n –1) : Determine the required joint torques by taking
the Z- component of the torque applied by one link on its neighbor:
(kinetics Part – Use Equations 6.53 Craig’s Text)

In this equation, the symbol τ

For prismatic Joint: means a linear actuator force

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Iterative Newton-Euler Formulation

Special Cases:
I. For prismatic joint i + 1, Equation (6.47) is replaced by (6.35) below:

II. Inclusion of gravity forces in the dynamics algorithm:

The effect of gravity can be included by setting
0
𝑣0 = 𝐺
where G has the magnitude of the gravity vector but points in the opposite
direction
This is equivalent that the robot base is accelerating upward with 1 g. This
fictitious upward acceleration causes exactly the same effect on the links as
gravity would..
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 Iterative Newton-Euler Formulation
Example (P 616)
Derive the equations of motion for the PR manipulator
shown. Neglect gravity. The inertia tensors of the links
are diagonal, with moments Ixx1 ,Iyy1 ,Izz1 and Ixx2 ,Iyy2
,Izz2 . The centers of mass for the links are as shown

Solution:
1 2
𝑃𝑐1 = −𝐿1 𝑧1 𝑃𝑐2 = 0
No force on end effector: 𝑓3 = 0
The base not rotating: 𝜔0 = 0, 𝜔0 = 0
Joint 1 Prismatic: 𝜔1 = 0, 𝜔1 = 0, 𝑣1 = 𝑑1 − 𝐿𝑖𝑛𝑘 1 𝑚𝑜𝑣𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝑙𝑖𝑛𝑒𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
No gravity: 0𝑣0 = 0
𝑐2 0 −𝑠2 1 0 0
2 1
1 𝑅 = 𝑠2 0 𝑐2 0𝑅 = 0 1 0
0 −1 0 0 0 1

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Iterative Newton-Euler Formulation

Solution (contd.):
Step 1: Kinematic Analysis (Eq. 6.45 – 6.48):

1 2
𝑖 = 0: 𝜔1 = 0 𝑖 = 1: 𝜔2 = 𝜃2 𝑧2

2
𝑖 = 0: 1𝜔1 = 0 𝑖 = 1: 𝜔2 = 𝜃2 𝑧2

Since Joint 1 Prismatic,

(6.35) is used instead of
(6.47) for i = 0.
𝑖 = 0: 1𝑣1 = 𝑑1 𝑧1 𝑖 = 1: 2𝑣2 = 21𝑅 1𝑣1 = 21𝑅𝑑1 𝑧1

1 1 𝑖 = 1: 2𝑣𝑐2 = 2𝑣2 = 21𝑅𝑑1 𝑧1

2-14 𝑖 = 0: 𝑣𝑐1 = 𝑣1 = 𝑑1 𝑧1

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 Iterative Newton-Euler Formulation
Solution (contd.):
Step 2 - Kinetic Analysis (Eq. 6.49 – 6.50):

1
𝑖 = 0: 𝐹1 = 𝑚1 1𝑣𝑐1 = 𝑚1 𝑑1 𝑧1
2
𝑖 = 1: 𝐹2 = 𝑚2 2𝑣𝑐2 = 𝑚2 21𝑅𝑑1 𝑧1

1
𝑖 = 0: 𝑁1 = 𝐼1 1𝜔1 = 0
2
𝑖 = 1: 𝑁2 = 𝐼2 2𝜔2 + 2𝜔2 × 𝐼2 2𝜔2 = 𝐼2 𝜃2 𝑧2 + 𝜃2 𝑧2 × 𝐼2 × 𝜃2 𝑧2

= 𝐼2 𝜃2 𝑧2 + 0 = 𝐼2 𝜃2 𝑧2

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Iterative Newton-Euler Formulation

Solution (contd.):
Step 3 - Kinetic Analysis (Eq. 6.51 – 6.52):

Inward Iteration from this step

2 2 3 2
𝑖 = 2: 𝑓2 = 3𝑅 3𝑓 + 2𝐹 = 0 + 𝑚2 21𝑅𝑑1 𝑧1 = 𝑚2 21𝑅𝑑1 𝑧1 No force at end effector
1 12
𝑖 = 1: 𝑓1 = 12𝑅 𝑓2 + 1𝐹1 = 12𝑅𝑚2 21𝑅𝑑1 𝑧1 + 𝑚1 𝑑1 𝑧1 = (𝑚1 + 𝑚1 ) 𝑑1 𝑧1

2
𝑖 = 2: 𝑛2 = 2𝑁2 + 0 = 𝐼2 𝜃2 𝑧2 = 0 0 𝐼𝑧𝑧2 𝜃2 𝑇

𝑖 = 1: 1
𝑛1 = 1𝑁1 + 12𝑅 2𝑛2 + (−𝐿1 )𝑧1 × 1𝐹1 + 0

= 0 + 12𝑅𝐼2 𝜃2 𝑧2 + +(−𝐿1 )𝑧1 × 𝑚1 𝑑1 𝑧1

= 0 + 12𝑅𝐼2 𝜃2 𝑧2 + 0 = 12𝑅𝐼2 𝜃2 𝑧2
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 Iterative Newton-Euler Formulation
Solution (contd.):
Step 4 - Kinetic Analysis (Eq. 6.53):

f1 𝜏2

0
𝑖 = 2: 𝜏2 = 2𝑛2𝑇 𝑧2 = 0 0 𝐼𝑧𝑧2 𝜃2 𝑇
0 = 𝐼𝑧𝑧2 𝜃2
1

Joint 1 is prismatic:
0
𝑖 = 1: 𝜏1 = 1𝑓1𝑇 𝑧1 = 0 0 (𝑚1 + 𝑚2 ) 𝑑1 𝑇
0 = (𝑚1 + 𝑚2 ) 𝑑1
1

Answer: 1𝑓 = (𝑚 + 𝑚 ) 𝑑 𝜏2 = 𝐼𝑧𝑧2 𝜃2
1 1 2 1

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End of Lecture 6