Abstract: The dynamics analysis of reconfigurable modular robots should be easily modeled and be universal, because such robots may assume various configurations. Based on twists and wrenches representations, the Lagrangian equations of dynamics is discussed. By using this method, all robot link frames can be assigned in unified form, and the equations are expressed in explicit closed-form. It facilitates the transformation of the force/moment between different frames and the transformation of the force/moment between end-effector and the torques of all joints, thus complex action cases can be analyzed. The explicit dynamics equations are convenient for the design and verification, motion simulation and control analysis and synthesis of various configurations. At last the detailed dynamics analysis procedure is given and a typical configuration simulation is illustrated as well.

Key words: Dynamics, Lagrangian equations, Reconfigurable robot, Cold rolling, Edge crack propagation, Maximum principle stress criterion, Rolling parameter, XFEM model