Abstract

the dynamic equation of three freedoms is established hammer in robotic arm by Lagrange equation. In the simulation occasion the dynamic equation will be computed in three freedoms according to this study. The force decreases a little with increasing angle3 from 0 to 2N with 0.05m/s while the torque decreases from 0 to 40Nm with the angle. Meantime torque decreases from 0 to 30Nm with the v of 0.2m/s. With increasing speed to the one M2 can reduce from 180Nm to 20Nm with the 0.5m/s meantime it is 240Nm with 0.3m/s. The highest torque M2 has 330Nm at the angle θ2 equals 0. The angel1 torque decreases when θ1 increases from 0 to   from 150Nm to 1400Nm with the speed of 0.1m/s.