Dynamics of a Planar Redundant Robot Based on Energy Conservation Law and Graph Theory

Recently the interest for redundant robots is increasing because of their wider functional capabilities. Usually the main advantage of redundant robots is their capability to avoid obstacles. Another advantage of this type of robots is the ability to reach a point from their workspace via different configurations of the links which allows redistribution of the reaction forces along the kinematic chain. In this way the drive power can be optimized. In this work is considered a planar redundant 3D printed robot with three degrees of freedom. Its kinematic and dynamic descriptions are presented. The dynamic model is developed using the energy conservation law and graph theory. Finally experiments of its real motions, based on the dynamic model are presented graphically.