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.
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Silver,W.M.,On the equivalence of Lagrangian and Newton-Euler dynamics for Manipulators,The International Journal of Roboties Research,1,2(1982),60-70.
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周起钊,树形多刚体系统的动力学普遍方程,力学学报,3(1973),267-277.
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Schielen,W.,Generalized constraint forces in ordinary multibody systems,Preprint 14th Yugoslav Congress Rational Applied Mechanics,C3-16,Beograd(1978),301-308.
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