| Summary: | This paper includes modeling and dynamic analysis of the planar manipulators which consist of n revolute joints and its end-effecter may possess a frictional contact with an arbitrary surface. The dynamic analysis has been done by using the Lagrangian method. The main contribution of this work is presenting the equations of motion of the system in an explicit and straightforward manner. To this end, the absolute angles of the links are chosen as the generalized coordinates to constitute the Lagrangian, and by this way the Coriolis acceleration terms included the product of the joint velocities, will be hidden in structure of the equations of motion. It is very interested in the simplified results that show a clear conformity with the interpretations of the Euler's equation of motion of the rigid body. In following, the results are applied to a case study model to explain the deriving the equations of motion by our formulation. An inchworm robot included an articulated mechanism is considered to this end.
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