Generalized dynamic model for multibodies manipulator

In this paper the general dynamical equations were given for multibodies manipulator. The system is a topologic tree structure consisting of arbitrary number of rigid bodies. The hinges allow the rotational and/or tranlalional motion. In consideration of influence of friction the dynamic equations are established by means of Newton-Euler's method. Further, the equations are separated by way of constructing the distribution matrices and a group of force and motion equations are obtained.