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.
• Torque (Force) is always expressed in [Nm] ([N])
  

Rotational Axes

Dynamic Model 1 - simple rotary axis

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle I}	Total moment of inertia around the rotation axis of the moved part

Model equation

Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle T=(I+I_{payload})\cdot acc}

Dynamic Model 2 - horizontal crank-arm axis

Horizontal crank-arm axis

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle I}	Total moment of inertia around the rotation axis of the moved part
2	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle L^{2}}	Square of length of crank arm (axis to payload)

Model equation

Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle T=(I+I_{payload}+L^{2}\cdot M_{payload})\cdot acc}

Dynamic Model 3 - vertical crank-arm axis

Vertical crank-arm axis

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle I}	Total moment of inertia around the rotation axis of the moved part
2	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle L^{2}}	Square of length of crank arm (axis to payload)
3	$M\cdot g\cdot A$	Mass (without payload) * Gravity * Distance to center of mass
4	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g\cdot L}	Gravity * Distance to Payload

Model equation

Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle T=(I+I_{payload}+L^{2}\cdot M_{payload})\cdot acc-(M\cdot g\cdot A+M_{payload}\cdot g\cdot L)\cdot \sin(pos)}

Linear Axes

Dynamic Model 1 - horizontal axis

Horizontal linear axis

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle M}	Total mass of the moved part.

Model equation

Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle T=(M+M_{payload})\cdot acc}

Dynamic Model 2 - vertical or tilted axis

Vertical linear axis

Number	Parameter	Comments
1	$M$	Total mass of the moved part.
2	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle M\cdot g\cdot \cos(\alpha )}	Constant force due to gravity.
3	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g\cdot \cos(\alpha )}	Gravity coefficient used to consider payload mass. (g = 9.80665)

Model equation

Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle T=(M+M_{payload})\cdot acc+M\cdot g\cdot \cos(\alpha )+M_{payload}\cdot g\cdot \cos(\alpha )}

Traverse Arm Robots

Dynamic Model 1

Traverse Arm robot

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle M_{1}+M_{2}}
2	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle A_{2}\cdot M_{2}}
3	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle A_{2}^{2}\cdot M_{2}+I_{2}}
4	$M_{3}$
5	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g\cdot M_{3}}
6	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle I_{4}}
7	$J_{4}$

Scara Robots

Dynamic Model 1

scara robot

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle L_{1}^{2}\cdot M_{2}+I_{1}}
2	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle A_{2}^{2}\cdot M_{2}+I_{2}}
3	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle J_{2}}
4	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle L_{1}\cdot A_{2}\cdot M_{2}}
5	$M_{3}$
6	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g\cdot M_{3}}
7	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle I_{4}}
8	$J_{4}$

Delta Robots

Dynamic Model 1

Delta robot

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle \Theta _{AB}}	kg*m2
2	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g\cdot L_{AB}\cdot M_{AB}}	kg*m2/sec2
3	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle M_{BC}}	kg
4	$\Theta _{BC}$	kg*m2
5	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle M_{P}}	kg
6	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle M_{T}}	kg
7	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle \Theta _{T}}	kg*m2
8	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle \Theta _{T\phi }}	kg*m2
9	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle L_{TO}}	m
10	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle L_{TP}}	m
11	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle D}
12	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle C_{r}}
13	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle Fr_{max}}
14	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle R_{ext}}

Puma Robots

Dynamic Model 2

Puma robot

Description:

• Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g} - The gravity constant
• $m_{i}$ - The mass of the i^th link
• Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle a_{i}} - The length of the i^th link
• Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle l_{i}} - The distance from the i^th joint to the center of mass of the i^th link

Number	Parameter	Comments
1	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g(m_{2}l_{2}+a_{2}(m_{3}+m_{4}+m_{5}+m_{6}))}	kg*m^2/s^2
2	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g(m_{3}l_{3,y}+l_{3}(m_{4}+m_{5}+m_{6}))}	kg*m^2/s^2
3	Failed to parse (Conversion error. Server ("https://en.wikipedia.org/api/rest_") reported: "Cannot get mml. Server problem."): {\displaystyle g(m_{3}l_{3,y}+l_{3}(m_{4}+m_{5}+m_{6}))}	kg*m^2/s^2
4	$gl_{56}(m_{5}+m_{6})$	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