Pamela Bessie
Geregistreerd op: 16 Jul 2020
Berichten: 3
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 Geplaatst: 17-07-2020 03:36:46 Onderwerp: puma slides |
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ÿþ d i m 3 dZm3 2 d2d3m3 dgm2 puma slides J3yy J3== is the generalizedjoint force vector. r J2== Jzyv Jlzr Jizz; etc.The symbols [ q q ] and [q"] are notation for the n(-l)/Z-vector of C eating Z1 through 1 4 , which are constants of the mecha- nism, leads to a reduction from 35 to 3 multiplications and from[aq]velocity products and the n-vectorof squared velocities. and 18 to 3 additions. Computing the constant Z1 involves 18 calcu- lations. Since the simple parameters required for the calculation[ q 2 ] are given by: of 11 are the input to the RNE, theRNE 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.
* The French puma fenty authors seem to assume the use of Cristoffel symbols, while the American authors seem unaware ofBy combining inertial constants with common variable termsand them.CorbenandStehle,inthe 1950 edition of theirexpanding sin2(82) into (1- c o s 2 ( & ) ) , equation (2) can be fenty by puma re- text, derive the results required here; but the derivationduced to: is largely omitted from their 1960 edition.of gravity and the terms of the inertia dyadic.Thewrist,link where I I = M-wg2 ** r12three and link two of a PUMA 560 arm were detached in order Mgto measure these parameters.
Themotors were mass of thearm. To makethismeasurementourcontrolsys-left installed in linkstwo and three when the inertia of these links tem was configured to command a motor torque proportional towere measured, so the effect of their mass as the puma thunder spectra supporting links displacement, effecting a torsional spring. By measuring the pe-move is correctly considered. The gyroscopic forces imparted by riod of oscillation of the resultant mass-spring system, the totalthe rotating motor armatures is neglected in the model, but the rotational inertia about each joint was determined. By subtract-data presented below include armature inertia andgear ratios, so ing the arm contributions, determinedfrom direct measurements,these forces can be determined.
The two wire suspension used for Rotational not removed fromthe base. Separately measured mass and inertia Inertia Measurement. terms are not required for link one because that link rotates only about its own 2 axis .of the link, thelocation of the center of gravity, the distancefromthe wire attachment points to the axis of rotation, the length of Table 4. Link Masses (kilograms; kO.01 1%)the wires, andtheperiod of rotationaloscillation. Theinertiaabout eachaxis is measured by configuring the link to swing Link Massabout that axis. Rotational oscillation is started by twisting andreleasing the link.
Link 4: The origin is puma football boots at the intersection of the axes of joints * Values derived from external dimensions; &25%. 4 5 and 6; 24 is along the axis of rotationand The effective torsional spring methodof inertia measurement was appliedateachjoint.Themotor and drive inertia, Imotor, direct.ed away from link 2; Y4 11 Z3 whenjoint were foundby subtractingtheinertialcontributiondue to the arm dynamics, known from direct measurements, from the total 4 is in the zero position. inert,ia measured.Theuncertainty in the total inertia measure- ment is somewhat higher at joint one becauseof the larger frictionLink 5: The origin coincides [img]http://www.simplypotterheads.com/images/lose/puma fenty-286dtd.jpg[/img] withthat of frame 4; Z5 is di- at that joint. |
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