Dynamic Models

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	$I$	Total moment of inertia of the moved part.

Linear Axes

Dynamic Model 1 - horizontal axis

Horizontal linear axis

Number	Parameter	Comments
1	$M$	Total mass of the moved part.

Dynamic Model 2 - vertical or tilted axis

Vertical linear axis

Number	Parameter	Comments
1	$M$	Total mass of the moved part.
2	$M\cdot g\cdot \cos(\alpha )$	Constant force due to gravity.
3	$g\cdot \cos(\alpha )$	Gravity coefficient used to consider payload mass. (g = 9.80665)

Traverse Arm Robots

Dynamic Model 1

Traverse Arm robot

Number	Parameter	Comments
1	$M_{1}+M_{2}$
2	$A_{2}\cdot M_{2}$
3	$A_{2}^{2}\cdot M_{2}+I_{2}$
4	$M_{3}$
5	$g\cdot M_{3}$
6	$I_{4}$
7	$J_{4}$

Scara Robots

Dynamic Model 1

Number	Parameter	Comments
1	$L_{1}^{2}\cdot M_{2}+I_{1}$
2	$A_{2}^{2}\cdot M_{2}+I_{2}$
3	$J_{2}$
4	$L_{1}\cdot A_{2}\cdot M_{2}$
5	$M_{3}$
6	$g\cdot M_{3}$
7	$I_{4}$
8	$J_{4}$

Delta Robots

Dynamic Model 1

Delta robot

Number	Parameter	Comments
1	$\Theta _{AB}$
2	$g\cdot L_{AB}\cdot M_{AB}$
3	$M_{BC}$
4	$\Theta _{BC}$
5	$M_{P}$
6	$M_{T}$
7	$\Theta _{T}$
8	$\Theta _{T\phi }$
9	$L_{TO}$
10	Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://en.wikipedia.org/api/rest_v1/":): {\displaystyle L_{TP}}
11	Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://en.wikipedia.org/api/rest_v1/":): {\displaystyle D}
12	Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://en.wikipedia.org/api/rest_v1/":): {\displaystyle C_r}
13	Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://en.wikipedia.org/api/rest_v1/":): {\displaystyle Fr_{max}}
14	Failed to parse (MathML with SVG or PNG fallback (recommended for modern browsers and accessibility tools): Invalid response ("Math extension cannot connect to Restbase.") from server "https://en.wikipedia.org/api/rest_v1/":): {\displaystyle R_{ext}}