Award Date


Degree Type


Degree Name

Master of Science (MS)


Mechanical Engineering

First Committee Member

Mohamed B. E. Trabia

Number of Pages



This thesis modeled the dynamics of the UNLV-ARO serially connected light-weight robot. The two outer-most links of the robot exhibited flexible behavior in the in-plane and the out-of-plane directions. Lagrangian mechanics were used to model this system. Assumed modes method was used to approximate the vibration mode shape of the links. Using these analytical techniques in conjunction with the inverse dynamics method, a set of equations of motion was formulated to describe the vibrations of the robot. Due to the complexity of the system, the equations of motion were derived using MACSYMA, a symbolic software. From MACSYMA, the equations of motion were translated into FORTRAN statements. FORTRAN programs were written using the equations obtained to numerically simulate the motions of the robot. The scheme discussed in this thesis provided a step towards modeling the dynamics of a light-weight robot accurately.


Lagrange; Light; Manipulation; Methods; Modeling; Numerical; Robot Simulation; Symbolic; UNLV; Weight

Controlled Subject

Mechanical engineering; Mechanics

File Format


File Size

13219.84 KB

Degree Grantor

University of Nevada, Las Vegas




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