Mechanic of Advanced and Smart Materials
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Dynamic Modeling and Simulation of a Fluid-Conveying Robotic Manipulator Using the Gibbs-Appell Formulation

Articles in Press

Document Type : Original Article

Author

siavash fathollahi dehkordi

Assistants professor, Mechanic Engineering Department, Shahid Chamran University of Ahvaz, Ahvaz, Khuzestan, Iran

10.61186/masm.2026.2086125.1183
Abstract
This paper presents the dynamic modeling of a robotic manipulator capable of fluid conveyance using the Gibbs-Appell formulation. The primary objective is to derive efficient recursive equations for systems with non-material control volumes, where constant-velocity fluid flow induces complex inertial and Coriolis forces. First, the kinematic relations are derived using a material approach and the Denavit-Hartenberg convention. Subsequently, the equations of motion are formulated by calculating the Gibbs function (acceleration energy) for the rigid links, the conveyed fluid, and the concentrated masses of the actuators. This approach significantly reduces computational complexity, providing an ideal framework for real-time control. To validate the model, a 5-DOF manipulator was simulated under a Computed Torque Control scheme in two scenarios: "No-Fluid" and "Fluid-Conveying." The results demonstrate that fluid flow increases joint torques by up to 18% and alters transient responses. The proposed model successfully maintained the tracking error within 15 mrad despite hydrodynamic disturbances, proving its high fidelity in analyzing fluid-structure interaction.

Keywords

Fluid-conveying robotics
Gibbs-Appell formulation
Non-material control volume
Computed Torque Control
Mechanic of Advanced and Smart Materials

Articles in Press, Accepted Manuscript
Available Online from 14 May 2026

  • Receive Date 24 February 2026
  • Revise Date 12 May 2026
  • Accept Date 14 May 2026

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