ME G511

Mechanisms & Robotics

BITS Pilani Dr. Y. V. D. Rao
Hyderabad Campus
 BITS Pilani
Hyderabad Campus

ME G511
STATIC ANALYSIS
STATIC ANALYSIS

 There are instances in the work cycle when the manipulator is

required to exert a force and/or moment on the environment.

 The end-effector makes a contact with the environment and all

joints remain static.

 The contact between the end-effector and environment results

in interactive forces and moments at the end-effector and
environment interface

 The static problem of a manipulator is to determine the

relationship between joint torques/forces and the force or
moment exerted by its environment on the end-effector under
static equilibrium conditions.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Clearly force is for prismatic joint and torque is for rotary joint.

 The force or torque at each joint of the manipulator is

transmitted through the arm linkages to the end-effector, where
the resultant force and moment acts on the environment.

 A manipulator carrying an object at its end point is equivalent to

a force applied to end-effector by the environmental contact as
discussed above.

 In both situations, the end point of the manipulator deflects by a

magnitude determined by the stiffness of the manipulator.
 The end-point stiffness is an important characteristic of a
manipulator that determines the accuracy of the manipulator and
plays an important role in the control of mechanical interaction
with the environment.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
FORCE AND MOMENT BALANCE

 Consider an 𝒏 −DOF manipulator with force and torque acting at

each joint, which determine the force or torque to be exerted by
the joint actuators, respectively.
 To find the force and torque acting on each joint requires the
force and moment (torque) balance for the individual links.

 Let the vector 𝒇𝒊−𝟏,𝒊 denote

the force acting on link 𝒊 due
to link (𝒊 − 𝟏) , where the
first subscript denotes the
link exerting the force, which
acts on the link of second
subscript.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The vector 𝒇𝒊,𝒊+𝟏 therefore, represents the force applied by link 𝒊
on link (𝒊 + 𝟏).

 The force exerted by link (𝒊 + 𝟏) on link 𝒊 will be – 𝒇𝒊,𝒊+𝟏 because

it is equal and opposite to force applied by link 𝒊 on link (𝒊 + 𝟏).
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 If 𝒎𝒊 denotes the mass of link 𝒊 and 𝒈 is the 𝟑X𝟏 vector
representing acceleration due to gravity, the gravity force acting
at the centroid 𝑪𝒊 of link 𝒊, is denoted by 𝒎𝒊 𝒈.

 Because the manipulator is at rest, each link is in static

equilibrium, the force equilibrium gives

 𝒇𝒊−𝟏,𝒊 − 𝒇𝒊,𝒊+𝟏 + 𝒎𝒊 𝒈 = 𝟎.

 All vectors in this equation 𝒇𝒊−𝟏,𝒊 − 𝒇𝒊,𝒊+𝟏 + 𝒎𝒊 𝒈 = 𝟎 are with

reference to the base frame 𝟎 .

Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 Also, for a link in static equilibrium, the vector sum of all
moments acting on it about any arbitrary point is zero.
 Let 𝜼𝒊−𝟏,𝒊 represents the
moment applied to link 𝒊
by link (𝒊 − 𝟏) with
respect to frame 𝟎 .
 Therefore, −𝜼𝒊,𝒊+𝟏 is the
moment applied to link 𝒊
by link (𝒊 + 𝟏).
 The moment balance about the centroid 𝑪𝒊 of link 𝒊, using figure
gives
 𝜼𝒊−𝟏,𝒊 + 𝟎𝑹𝒊−𝟏 𝒊 − 𝟏𝒓𝒊 + 𝒊𝒓𝒊 𝑿𝒇𝒊−𝟏,𝒊 − 𝜼𝒊,𝒊+𝟏 + 𝟎𝑹𝒊−𝟏 −𝒊𝒓𝒊 𝑿 −
𝒇𝒊,𝒊+𝟏 = 𝟎, for 𝒊 = 𝟏, 𝟐, 𝟑 … . 𝒏,
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 where 𝒊 − 𝟏𝒓𝒊 is the position vector from origin 𝑶𝒊−𝟏 to origin 𝑶𝒊 ,

 𝒊𝒓𝒊 is the position vector from origin 𝑶𝒊 to centroid 𝑪𝒊 and

rotation matrix 𝑹 is used to express all moment vectors in terms of
frame 𝟎 .
 Equations
 𝒇𝒊−𝟏,𝒊 − 𝒇𝒊,𝒊+𝟏 + 𝒎𝒊 𝒈 = 𝟎
and
 ൫𝜼𝒊−𝟏,𝒊 + 𝟎𝑹𝒊−𝟏 (𝒊 − 𝟏𝒓𝒊 +

for each link give a set of 𝒏 equations.

Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 Thus, there are 𝟐𝒏 simultaneous equations involving 𝟐(𝒏 + 𝟏)
forces and moments.
 To solve these equations one force and one moment must be
known.

 The force and moment applied by the manipulator on the

environment can be specified to solve these equations.

 For 𝒊 = 𝒏 𝒇𝒏,𝒏+𝟏 and 𝜼𝒏,𝒏+𝟏 are the independent endpoint

force and moment, respectively exerted by the manipulator on the
environment.

Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 The reaction force and moment from the environment on the
manipulator, at its end point are −𝒇𝒏,𝒏+𝟏 and −𝜼𝒏,𝒏+𝟏
respectively.
 The endpoint force and moment are combined into a 𝟔-D vector,
called end-point force vector, as
𝒇𝒏,𝒏+𝟏
𝓕 = 𝜼 .
𝒏,𝒏+𝟏

 Note that the negative sign has been dropped and will be
appropriately taken care when used in a force/moment balance
equations.
 Thus, for any 𝒏 −DOF manipulator, the interactive forces and
moments between links 𝒇𝒊,𝒊+𝟏 and 𝜼𝒊,𝒊+𝟏 can be obtained
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 from equations
 𝒇𝒊−𝟏,𝒊 − 𝒇𝒊,𝒊+𝟏 + 𝒎𝒊 𝒈 = 𝟎 and
 ൫𝜼𝒊−𝟏,𝒊 + 𝟎𝑹𝒊−𝟏 𝒊 − 𝟏𝒓𝒊 + 𝒊𝒓𝒊 X𝒇𝒊−𝟏,𝒊 − 𝜼𝒊,𝒊+𝟏 + 𝟎𝑹𝒊−𝟏 −𝒊𝒓𝒊 X −

 To determine the joint forces or torques to be exerted by the

actuators to keep the manipulator in static equilibrium
 let 𝝉 denote the 𝒏X𝟏 vector of generalized joint torques or forces
𝝉 = 𝝉𝟏 , 𝝉𝟐 , 𝝉𝟑 … . 𝝉𝒏 𝑻 ,
 where 𝝉𝒊 is the generalized driving torque or force applied by the
actuator 𝒊 driving joint 𝒊 and is defined as

Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus

 𝐀𝐜𝐭𝐮𝐚𝐭𝐨𝐫 𝐟𝐨𝐫𝐜𝐞, 𝐢𝐟 𝐣𝐨𝐢𝐧𝐭 𝒊 𝐢𝐬 𝒑𝒓𝒊𝒔𝒎𝒂𝒕𝒊𝒄
 𝝉𝒊 = ቊ
𝐀𝐜𝐭𝐮𝐚𝐭𝐨𝐫 𝐭𝐨𝐫𝐪𝐮𝐞, 𝐢𝐟 𝐣𝐨𝐢𝐧𝐭 𝒊 𝐢𝐬 𝒓𝒆𝒗𝒐𝒍𝒖𝒕𝒆

 For a revolute joint 𝒊, the actuator at that joint will bear only that
component of the moment 𝜼𝒊−𝟏,𝒊 which is in the direction of joint
axis 𝒛𝒊 , while the other components of moment are borne by the
joint structure.

 This gives, for a revolute joint, with 𝒊 − 𝟏ො𝒛𝒊−𝟏 as the unit vector
in the direction of the joint axis 𝝉𝒊 = 𝟎𝑹𝒊−𝟏 𝒊 − 𝟏ො𝒛𝒊−𝟏 𝑻 𝜼𝒊−𝟏,𝒊 .
 Similarly, if the joint is prismatic, the actuator will bear that
component of 𝒇𝒊−𝟏,𝒊 which is in the direction of joint axis,
 that is 𝝉𝒊 = 𝟎𝑹𝒊−𝟏 𝒊 − 𝟏ො𝒛𝒊−𝟏 𝑻 𝒇𝒊−𝟏,𝒊.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
USE OF THE JACOBIAN IN STATICS

 The relationship between the joint torques and the endpoint

force or torque vector is derived using the principle of virtual
work.
 This is used to determine the joint torques necessary to exert a
given end-effector force and moment.

 Consider an infinitesimal displacement of 𝜹𝒒𝒊 due to torque 𝝉𝒊 at

joint 𝒊.

 Hence, 𝜹𝒒 is the 𝒏X𝟏 vector of infinitesimal joint displacements.

 These displacements, also called virtual displacements, of a

mechanical system need only satisfy the kinematic constraints.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 The end-point force and moment also act on the mechanical
system producing infinitesimal endpoint displacement 𝜹𝒙𝒆 and
rotation 𝜹𝝓𝒆 respectively.

 Thus, the virtual work 𝜹𝑾 done by the forces and moments is

given by
𝑻
 𝜹𝑾 = 𝝉𝟏 𝜹𝒒𝟏 + 𝝉𝟐 𝜹𝒒𝟐 + ⋯ + 𝝉𝒏 𝜹𝒒𝒏 − 𝒇𝒏,𝒏+𝟏 𝜹𝒙𝒆 −
𝑻
𝜼𝒏,𝒏+𝟏 𝜹𝝓𝒆 .

 Or 𝜹𝑾 = 𝝉 𝑻 𝜹𝒒 − 𝓕 𝑻 𝜹𝒑,
 where 𝜹𝒑 is the 𝒏X𝟏 vector of infinitesimal end-effector
displacements 𝜹𝒙𝒆 , 𝜹𝝓𝒆 caused by the endpoint force 𝓕.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 In the above, it is assumed that the joints of the mechanism are
frictionless and the joint torques are the net torques that balance
the endpoint force 𝓕.

 From equation 𝑽𝒆 𝒕 = 𝑱 𝒒 𝒒,ሶ

 the Jacobian 𝑱 relates infinitesimal joint displacement 𝜹𝒒 at
infinitesimal end-effector displacement 𝜹𝒑 as
 𝜹𝒑 = 𝑱 𝒒 𝜹𝒒.
 Substituting equation 𝜹𝒑 = 𝑱 𝒒 𝜹𝒒 into equation
 𝜹𝑾 = 𝝉 𝑻 𝜹𝒒 − 𝓕 𝑻 𝜹𝒑, one gets
 𝜹𝑾 = 𝝉 𝑻 𝜹𝒒 − 𝓕 𝑻 𝑱 𝒒 𝜹𝒒.
𝑻
 That is 𝜹𝑾 = 𝝉 − 𝓕 𝑻 𝑱 𝒒 𝜹𝒒.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝑻
 That is 𝜹𝑾 = 𝝉 − 𝓕 𝑻 𝑱 𝒒 𝜹𝒒.

 Rearranging gives
𝑻
 𝜹𝑾 = 𝝉 − 𝑱 𝒒 𝓕 𝑻 𝜹𝒒.
 According to the principle of virtual work the manipulator
mechanism is in the static equilibrium, if and only if, the net virtual
work is zero for arbitrary virtual displacements, that is 𝜮𝜹𝑾𝒊 = 𝟎.
 Hence from the two equations 𝜮𝜹𝑾𝒊 = 𝟎 and 𝜹𝑾 = ሾ𝝉 −

𝑻
 That is 𝝉 − 𝑱 𝒒 𝓕 𝑻 𝜹𝒒 = 𝟎.
𝑻 𝑻
 Or 𝝉 − 𝑱 𝒒 𝓕 = 𝟎.
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus
 𝑻
 Hence 𝝉 − 𝑱 𝒒 𝓕 = 𝟎.

𝑻
 This leads to 𝝉 = 𝑱 𝒒 𝓕.

𝑻
 This equation 𝝉 = 𝑱 𝒒 𝓕 states that

 The transpose of the Jacobian matrix transforms the end-

effector torque to the corresponding joint torques.

THANK YOU
Lecture 22 ME G511 Mechanisms and Robotics BITS Pilani, Hyderabad Campus