Researches regarding the dynamic model of the serial modular portal robot with TRTTT structure using the Newton-Euler formalism

In this paper we study the geometric, kinematics, and dynamic model for a serial modular portal robot with a TRTTT structure, using the Maple 9.01 ([6]) application. The values of the generalized motor forces depend on various parameters, in this paper being studied the influence of the variations of the mass center positions on these generalized motor forces.