The high efficient dynamics modeling method for modular manipulator based on Space Operator Algebra

In order to enhance the efficiency of dynamics modeling of modular space manipulator, a kind of efficient modeling method based on Space Operator Algebra is proposed in this paper. The application and the advantages of modular manipulator compared to the conventional manipulator are introduced first. And then, the conceptual design of basic modules is provided and the mathematical relationship between each module is described by the transformation matrix. Thereafter, a high efficient dynamics modeling method is proposed based on Space Operator Algebra which has the characters of concise format and efficient programming. Finally, a simulation for the 7-DOF modular manipulator is carried out and compared with ADAMS model to verify the effectiveness and validity of this method.