محمد طلبه

In this work study of rigid and flexible multibody dynamics is presented. A study is also made on problems related to robot manipulators such as; control, inverse kinematics, optimization with, special attention to weight problems, and hence flexibility.
First, rigid four DOF robot manipulator using Co-Simulation between MSC Adams and Simulink was examined. In this model PD controller and inverse kinematics are used to make the robot manipulator reach the specified target. The controller’s gains are optimized by genetic algorithm.
Next, modeling of multibody dynamics for both rigid and flexible bodies is presented. Kinematics of joints are developed to describe constraints between the parts Using Lagrange’s equations and virtual work the equations of motion are derived for general constrained body, where the reaction forces are represented using Lagrange multipliers. The result is mixed nonlinear algebraic-differential equations, and an implicit HHT integrator is used to solve such stiff equations.