In this thesis the modelling and design of a passively actuated robot manipulator is presented. It represents a non-smooth structure-variant mechanical system. The primary purpose of the manipulator is to provide an experimental platform for the exploration of control methods and strategies which have been developed and programmed to handle non-smooth mechanical systems. The manipulator has the shape of a classic two-degree-of-freedom robot arm and contains an actuated first joint with a motor inside and a passively actuated second joint with a brake. Both joints are modular and inserted into a carrier structure, allowing for an easy and fast exchange of the actuated and passively actuated module. In addition to the mechanical hardware, the electrical power and software system driving the robot has been designed. With the help of the required mathematical and mechanical concepts the robot arm is modelled and simulated using the time-stepping algorithm according to Moreau.

3-dimensional elastic model of the robot