Difference between revisions of "Payloads"
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The relevant payload properties for this model are: | The relevant payload properties for this model are: | ||
* [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | ||
− | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2] | + | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2]</math>. |
<br style="clear: both" /> | <br style="clear: both" /> | ||
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The relevant payload properties for this model are: | The relevant payload properties for this model are: | ||
* [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | ||
− | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2] | + | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2]</math>. |
<br style="clear: both" /> | <br style="clear: both" /> | ||
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The relevant payload properties for this model are: | The relevant payload properties for this model are: | ||
* [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | ||
− | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2] | + | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2]</math>. |
* [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - <math>L_x [m]</math>.<br /> | * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - <math>L_x [m]</math>.<br /> | ||
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This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2. <br /> | This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2. <br /> | ||
The relevant payload properties for this model are: | The relevant payload properties for this model are: | ||
− | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2] | + | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 4th axis direction relative to the 4th axis location - <math>I_{payload} [kg \cdot m^2]</math>. |
* [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - <math>L_x [m]</math>.<br /> | * [[MC-Basic:robot.PAYLOADLX|payloadLx]] - The distance to the center of mass from the 4th axis in the x direction - <math>L_x [m]</math>.<br /> | ||
+ | |||
+ | <br style="clear: both" /> | ||
+ | |||
+ | == Delta Robots == | ||
+ | |||
+ | === Dynamic Model 1 === | ||
+ | The relevant payload property for this model is: | ||
+ | * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | ||
+ | |||
+ | <br style="clear: both" /> | ||
+ | |||
+ | == Puma Robots == | ||
+ | === Dynamic Model 1 === | ||
+ | The relevant payload properties for this model are: | ||
+ | * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | ||
+ | * [[MC-Basic:element.PAYLOADINERTIA|payloadInertia]] - the inertia of the payload in the 6th axis direction relative to the 6th axis location - <math>I_{payload,zz} [kg \cdot m^2]</math>. | ||
+ | * [[MC-Basic:element.PAYLOADMASSRMASS|payloadMassRMass]] - the payload mass times the distance to the center of mass of the payload in the TCP z axis direction - <math>M_{payload} \cdot R_{c.m,z} [kg \cdot m]</math>. | ||
+ | * [[MC-Basic:element.PAYLOADMASSRMASSG|payloadMassRMassG]] - the payload mass times the distance to the center of mass of the payload in the TCP z axis direction times gravity - <math>M_{payload} \cdot g \cdot R_{c.m,z} [Nm]</math>. | ||
+ | * [[MC-Basic:element.PAYLOADMASSRMASSSQIXX|payloadMassRMassSqIxx]] - the inertia of the payload in the TCP x axis direction relative to the 5th axis location - <math>I_{payload,xx} + R_{c.m,z}^2 \cdot M_{payload}[kg \cdot m^2]</math>. | ||
+ | |||
+ | <br style="clear: both" /> | ||
+ | === Dynamic Model 2 - Gravity === | ||
+ | The relevant payload property for this model is: | ||
+ | * [[MC-Basic:element.PAYLOADMASS|payloadMass]] - the mass of the payload - <math>M_{payload} [kg]</math>. | ||
<br style="clear: both" /> | <br style="clear: both" /> |
Latest revision as of 14:14, 9 October 2018
This page gives an overview over the available payload properties, their uses and meaning.
Rotational Axes
Dynamic Model 1 - simple rotary axis
The relevant payload property for this model is:
- payloadInertia - the inertia of the payload in the axis direction relative to the axis location - .
Dynamic Model 2 - horizontal crank-arm axis
The relevant payload property for this model is:
- payloadInertia - the inertia of the payload in the axis direction relative to the axis location - .
Dynamic Model 3 - vertical crank-arm axis
The relevant payload properties for this model are:
- payloadMassRMassG - the payload mass times the distance to the center of mass of the payload times gravity - .
- payloadMassRMassSqIxx - the inertia of the payload in the axis direction relative to the axis location - .
Linear Axes
Dynamic Model 1 - horizontal axis
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Dynamic Model 2 - vertical or tilted axis
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Dynamic Model 3 - vertical axis with a spring
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Scara Robots
Dynamic Model 1
The relevant payload properties for this model are:
- payloadMass - the mass of the payload - .
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .
Dynamic Model 2
The relevant payload properties for this model are:
- payloadMass - the mass of the payload - .
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .
Dynamic Model 3
The relevant payload properties for this model are:
- payloadMass - the mass of the payload - .
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .
- payloadLx - The distance to the center of mass from the 4th axis in the x direction - .
When using identification with this model, all of the payload parameters can be found.
Dynamic Model 4
This model is used in identification process in order to identify the payloadMass parameter only, by moving only joint number 3.
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Dynamic Model 5
This model is used in identification process in order to identify the payloadInertia and payloadLx parameters, by moving only joint number 4 and very small movements in joints 1 and 2.
The relevant payload properties for this model are:
- payloadInertia - the inertia of the payload in the 4th axis direction relative to the 4th axis location - .
- payloadLx - The distance to the center of mass from the 4th axis in the x direction - .
Delta Robots
Dynamic Model 1
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .
Puma Robots
Dynamic Model 1
The relevant payload properties for this model are:
- payloadMass - the mass of the payload - .
- payloadInertia - the inertia of the payload in the 6th axis direction relative to the 6th axis location - .
- payloadMassRMass - the payload mass times the distance to the center of mass of the payload in the TCP z axis direction - .
- payloadMassRMassG - the payload mass times the distance to the center of mass of the payload in the TCP z axis direction times gravity - .
- payloadMassRMassSqIxx - the inertia of the payload in the TCP x axis direction relative to the 5th axis location - .
Dynamic Model 2 - Gravity
The relevant payload property for this model is:
- payloadMass - the mass of the payload - .