Difference between revisions of "Dynamic Models"

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(Delta Robots: hiden puma table)
(Delta Robots: puma model 2)
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== Puma Robots ==
 
== Puma Robots ==
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=== Dynamic Model 2 ===
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[[File:puma.PNG|Puma robot|thumb]]
  
[[File:puma.PNG|Puma robot|thumb]]
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Description:
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:* <math> g </math> - The gravity constant
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:* <math> m_{i} </math> - The mass of the i<sup>th</sup> link
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:* <math> a_{i} </math> - The length of the i<sup>th</sup> link
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:* <math> l_{i} </math> - The distance from the i<sup>th</sup> joint to the center of mass of the i<sup>th</sup> link
  
 
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== Galileo Spherical Robots (GSR) ==
 
== Galileo Spherical Robots (GSR) ==

Revision as of 11:39, 8 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 2

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
2
3
4

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