Dynamic modeling of new modular manipulators

The paper introduces the dynamic modelling of a novel drive module with one translational and one rotational degree of freedom. The mechanism of the presented system has a timing belt setup, which enables a parallel drive of two DoF. Based on this mechanism it is possible to build low - 2, 3 and 4 - DoF or even 6 DoF manipulators. The combinatorial possibilities are systematic presented in [1]. Present paper will enrich the proposed mechanisms; as well dynamic models of the manipulators are presented. The advantages of the new mechanisms are underlined by presenting numerical results also.