MEAM 535

Recursive Newton Euler Algorithm for

Dynamics of Serial Chains

•  Robot arms when joint motions are known

(from control algorithm)
•  Biomechanical analysis when limb motion is
known (from data)

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Notation for serial chains

i
Principal axes of Bi b3 i y
b2
z
y Oi+1
z
Oi Ci x
i
b1
Bi+1
z
Bi
x
Oi-1
x y
Bi-1 Ci center of mass of Bi
{Bi-1}
Oi common to links Bi-1 and Bi
Oi+1 common to links Bi and Bi+1
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Free Body Diagram for Bi

i
b3 i
y Fi+1,i
b2
Ci z
y Oi+1
z ri+1
Oi ri
Fi-1,i i MO (i+1,i)
b1 x
i+1

Bi Bi+1
x
MOi (i-1,i)

Bi-1
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Recursive Algorithm to Calculate
Velocities, Accelerations for Given Joint
Motion
For i=1, 2, … N
  Find angular velocity of Bi, velocity of Ci, Oi+1 in
terms of the angular velocity of Bi-1, velocity of
Ci-1, Oi (all in inertial frame).
  Find angular acceleration of Bi, acceleration of Ci,
Oi+1 in terms of the angular acceleration of Bi-1,
acceleration of Ci-1, Oi (all in inertial frame).

NB: Forward Recursion

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Recursive Newton Euler Algorithm For a
Given Motion
For i=N, N-1, … 1
  Write N-E equations of motion for link i with Ci as a
reference point and in a reference triad aligned with
principal axes of link i
  Calculate forces and moments exerted by link i-1 on
link i.

NB: Backward Recursion

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Example 1
(2) B2 
(1)
b2
b2 (2)
(2)
b1 b1
B1  O2 length l2
C2
mass m2
O1 C1
(1)
b1
length l1
mass m1
τ1
Torque, τ2

A 

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Example 2
Robot arm subject to a force Generalized coordinates
at P and moment about P,   (θ1, θ2)
motor torques at joints 1 and Mz Generalized speeds
2, and gravity. P   (u1, u2)
(Fx, Fy) Velocity Partials

C2 l2

τ2 θ2
y Generalized forces
l1
τ1 C1
θ1 x

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