Difference between revisions of "Dynamic Models"

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(Dynamic Model 1)
(Dynamic Model 1)
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|5
 
|5
 
|<math>I_{5} = -m_{3}*a_{2}*l_{3,y}+(m_{4}+m_{5}+m_{6})*a_{2}*d_{4}+m_{4}*a_{2}*l_{4,z}</math>
 
|<math>I_{5} = -m_{3}*a_{2}*l_{3,y}+(m_{4}+m_{5}+m_{6})*a_{2}*d_{4}+m_{4}*a_{2}*l_{4,z}</math>
 +
|kg/m^2
 +
|-
 +
|6
 +
|<math>I_{6} = I_{3,zz}+m_{3}*l_{3,y}^2+m_{4}*a_{3}^2+m_{4}*(d_{4}+l_{4,z})^2+I_{4,yy}+m_{5}*a_{3}^2+m_{5}*d_{4}^2+I_{5,zz}+m_{6}*a_{3}^2+m_{6}*d_{4}^2+m_{6}*l_{6,z}^2+I_{6,xx}</math>
 +
|kg/m^2
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|-
 +
|7
 +
|<math>I_{7} = m_{3}*l_{3,y}^2+I_{3,xx}-I_{3,yy}+m_{4}*l_{4,z}^2+2*m_{4}*d_{4}*l_{4,z}+(m_{4}+m_{5}+m_{6})*(d_{4}^2-a_{3}^2)+I_{4,yy}-I_{4,yy}+I_{5,zz}-I_{5,yy}+m_{6}*l_{6,z}^2-I_{6,zz}+I_{6,xx}</math>
 
|kg/m^2
 
|kg/m^2
 
|}
 
|}

Revision as of 10:43, 16 October 2017

This page gives an overview over all implemented dynamic models.

General considerations

  • Friction is handled on axis basis. The parameters for friction are set for each axis separately.
  • Torque (Force) is always expressed in [Nm] ([N])

Rotational Axes

Dynamic Model 1 - simple rotary axis

Number Parameter Comments
1 Total moment of inertia around the rotation axis of the moved part
Model equation


Dynamic Model 2 - horizontal crank-arm axis

Horizontal crank-arm axis
Number Parameter Comments
1 Total moment of inertia around the rotation axis of the moved part
2 Square of length of crank arm (axis to payload)
Model equation


Dynamic Model 3 - vertical crank-arm axis

Vertical crank-arm axis
Number Parameter Comments
1 Total moment of inertia around the rotation axis of the moved part
2 Square of length of crank arm (axis to payload)
3 Mass (without payload) * Gravity * Distance to center of mass
4 Gravity * Distance to Payload
Model equation

Linear Axes

Dynamic Model 1 - horizontal axis

Horizontal linear axis
Number Parameter Comments
1 Total mass of the moved part.
Model equation


Dynamic Model 2 - vertical or tilted axis

Vertical linear axis
Number Parameter Comments
1 Total mass of the moved part.
2 Constant force due to gravity.
3 Gravity coefficient used to consider payload mass. (g = 9.80665)
Model equation


Traverse Arm Robots

Dynamic Model 1

Traverse Arm robot
Number Parameter Comments
1
2
3
4
5
6
7


Scara Robots

Dynamic Model 1

scara robot
Number Parameter Comments
1
2
3
4
5
6
7
8

Delta Robots

Dynamic Model 1

Delta robot
Number Parameter Comments
1 kg*m2
2 kg*m2/sec2
3 kg
4 kg*m2
5 kg
6 kg
7 kg*m2
8 kg*m2
9 m
10 m
11
12
13
14


Puma Robots

Dynamic Model 1

Puma robot

Description:

  • - The gravity constant
  • - The mass of the ith link
  • - The length of the ith link
  • - The distance from the ith joint to the center of mass of the ith link
Number Parameter Comments
1
kg/m^2
2 kg/m^2
3 kg/m^2
4 kg/m^2
5 kg/m^2
6 kg/m^2
7 kg/m^2

Dynamic Model 2 - Gravity

Description:

  • - The gravity constant
  • - The mass of the ith link
  • - The length of the ith link
  • - The distance from the ith joint to the center of mass of the ith link
Number Parameter Comments
1 kg*m^2/s^2
2 kg*m^2/s^2
3 kg*m^2/s^2
4 kg*m^2/s^2

Galileo Spherical Robots (GSR)

Dynamic Model 1

Galileo robot



Number Parameter Comments
1 mP Payload mass [kg]
2 mB Balance mass [kg]
3 TP Payload mass center distance from the flange [mm]
4 TB Balance mass center distance from the (0,0) [mm]
5 IR Inertia of the payload around roll [kg*m2