Establish the Dynamic Equations of Steel Robot-1 Manipulator

In this paper, Using the Lagrangian equations, the dynamics equations of Steel Robot-1 manipulator of our university is established to explain the physical sense of dynamic equations. By means of the kinetic energy and the potential energy of the manipulator mechanism, the simple relation between the joint torques and the joint angular accelerations are found out. Paul's approximate method is used to simplify the process of the derivation for applying actually.