Abstract

the dynamic equation of three freedoms and friction impulsion vibration is established hammer in robotic arm by Larange equation. It is based on one of two freedoms. It is found that the first and second items is long and others is concise which is found in kinetic equation in this study. The M1 torque decreases when θ1 increases to 2200Nm with the speed of 0.1m/s. The highest torque M2 has about 6000Nm at the angle θ2 equals 0.6. The biggest one is at a=95m/s2 which has been 138Nm whose value is the biggest.