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puma creepers

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Yetta Kent
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Dołączył: 04 Sty 2020
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PostWysłany: Sob Sty 04, 2020 05:06    Temat postu: puma creepers Odpowiedz z cytatem

ÿþwhere A(q) is the n X n kineticenergymatrix; puma creepers a l l = 11 12 coa2(82) 13 cos(82)co8(82 63) (3) B(q) is the n x n(n-1)/2matrix of Coriolistorques; z4 cos2(e2 03) C(q) is the n x n matrix of centrifugaltorques; Calculations required: 3 multiplications, 3 additions. g(q) is then-vector of gravitytorques; q is thne-vector of accelerations; where ZI.= d i m 3 dZm3 2 d2d3m3 dgm2 J3yy J3== is the generalizedjoint force vector. r J2== Jzyv Jlzr Jizz; etc.

RNE will effectively carry out The procedure used to derive the dynamimc odel entails four the calculation of Z1 on every pass, producing considerable m-steps: necessary computation. Thirty four lumped constants are needed 1. Symbolic Generation puma rihanna of the kinetic energy matrix and by the full PUMA model, 8 fewer than the count of 42 simple pa- gravity vector elements by performing the summations of rameters required to describe the arm. either Lagrange's or the puma fenty Gibbs-Alembert formulation.

And reduction of these expressions with four relations that hold on these partial derivatives.  J -- ,p',jj (5) 4. Formation of the needed partial derivatives, expansion of where (qk * it) is the j t h velocity product in the [q4]vector, and the Coriolis and centrifugal matrix elements in terms of the derivatives, and simplification by combining is the Christoffel symbol. inertia constants as in 2. The number of unique non-zero Christoffel puma slides symbols required The first step was carried out with a LISP program.

By subtract-data presented below include armature inertia andgear ratios, so ing the arm contributions, determinedfrom direct measurements,these forces can be determined. from the measured total inertia, the motor and drive inertial con- The parametersof the wrist linkswere not directly measured. tributions were found.The wrist itself was not disassembled. But the needed parameterswere estimatedusingmeasurements of the wristmass and the Measurement Toleranceexternal dimensions of the individual links.

The tolerance values assigned to calculated parameters were de-With this arrangement a rotational pendulum is created about termined by RMS combination of the tolerance assigned to eachanaxisparallel toand halfwaybetween the suspension wires.The link's center of gravity must lie on this axis.The inertiasuspension method of measuring the rotational inertia requires puma fenty slides dyadic and center of gravity parameters of link 3 were measuredknowledge of parameters that are easily measured.

40is possible to start fundamentalmodeoscillationwithout visi- Link 3 4.80blyexcitingany of the other modes. The relationshipbetween Link 4* 0.82measured properties and rotational inertia is: Link 5* 0.34 Link 6* 0.09 * This method was suggested by Prof. David Powell. Link 3 wiCthomplete LVrist 6.04 Detached Wrist 2.24 * Values derived from external dimensions; f 2 5 % . The positions of the centers of gravity are reported in Table 5. The dimensions rz! ry and rz refer to the x, y and z coordinates 513
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