Dynamic Models

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Revision as of 08:34, 22 May 2014 by Miborich (talk | contribs) (Miborich moved page Axystems:Dynamic Models to Dynamic Models: Global renaming of Axystems: namespace into (Main):)
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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 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

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