Numerical modeling and simulation

Study of multibody systems

A multibody system is a mechanical system consisting of
interconnected rigid or deformable bodies, each of which may
undergo large translational and rotational displacements.

Examples of multibody systems are machines, mechanisms,

vehicles, robots

Types of joints

Rotational joints (or turning joints) are usually preferred to prismatic joints
(or sliding joints) because of their compactness and reliability.

More complex joints, like spherical or helicoidal joints can be considered

as proper combination of prismatic and rotational joints.

Sequence of joints

Classification of a robot
CARTESIAN geometry is obtained by three prismatic joints, whose
axis typically are mutually orthogonal.

The workspace is the volume enclosed by a parallelepiped.

Classification of a robot
CARTESIAN robot with a gantry structure

Classification of a robot
CYLINDRICAL geometry differs from Cartesian in that the first sliding joint is
replaced with a turning joint.

Workspace: a portion of a hollow cylinder.

Classification of a robot
SPHERICAL geometry differs from cylindrical in that the second sliding joint
is replaced with a turning joint.

Workspace: portion of a hollow sphere.

Classification of a robot
SCARA (Selective Compliance Arm for Robotic Assembly) geometry is
obtained by disposing two turning joints and one sliding joint in such a way
that all axes of motion are parallel.

Classification of a robot
ANTHROPOMORPHIC geometry is obtained by three turning joints; the
turning axis of the first joint is orthogonal to the axes of the other two, which
are parallel.

Workspace: approximately a portion of a sphere

Classification of a robot
These configurations refer to robots with open-chain structures. Other
kinematic solutions exist, based on closed kinematic chains (parallel
robots).

Coordinate systems

Direct and inverse kinematics

Differential kinematics

Dynamics