الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
Setting up the dynamic equation of motion of an articulated mechanism is of growing importance in the field of automatic control of multidegrees of freedom mechanical processes, such as prostheses , orthetic devices teleoperator and robots further more the mathematical model could be used by the design for testing and improving a projected mechanical system . obtaining the equations of motion of these mechanical system manually is not difficult , but it is long tedious and thus error prone . there for the need for automation of such equations generation has been commented in this research a program for the automated symbolic derivation of equations of motion is presented the method is based on utilizing moving coordinate system and lagrange formalism it uses a recently developed index coding sor symbolic computer derivation the program is called A.S.M.I.M., the name consists of the initialas of automated symbolic modlling of industrial manipulators the program is written in fortran language . subroutines are developed to execuse symbolically mathematical operations such as summation and multiplication of summed terms and matrices differentiation , simplification of trigonometrical expressions vector product …….etc. the program (A.S.M.I.M)give the lagrange coefficients symbolically in a proper notion to be used as input to fortarn programs for the purpose of further analysis As An illustrative example Asmim has been used for obtaining the dymatic model of French manipulator Am-23 . the results are given together with the computation time and the memory size required on of the main advantages of the present method is that it can be executed on any computer having fortorn compiler because all the subroutines are written in fortorn language and not by ASSENBLER language , more over it need a capacity of 28 K word only and a relatively small execution time