Difference between revisions of "Dynamic Models"

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=== Dynamic Model 2 - horizontal crank-arm axis ===
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=== Dynamic Model 2 - vertical crank-arm axis ===
  
 
== Linear Axes ==
 
== Linear Axes ==

Revision as of 12:45, 31 October 2012

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.


Rotational Axes

Dynamic Model 1 - simple rotary axis

Number Parameter Comments
1 Total moment of inertia of the moved part.

Dynamic Model 2 - horizontal crank-arm axis

Dynamic Model 2 - vertical crank-arm axis

Linear Axes

Dynamic Model 1 - horizontal axis

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


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)


Traverse Arm Robots

Dynamic Model 1

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


Scara Robots

Dynamic Model 1

Number Parameter Comments
1
2
3
4
5
6
7
8


Delta Robots

Dynamic Model 1

Delta robot
Number Parameter Comments
1
2
3
4
5
6
7
8
9
10
11
12
13
14