Dynamic Models

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Revision as of 07:43, 4 September 2018 by Ron (talk | contribs) (Linear Axes: add vertical liner axis with a spring)
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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.
  • 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


Dynamic Model 3 - vertical axis with a spring

Number Parameter Comments
1 Total mass of the moved part. [kg]
2 The stiffness constant of the spring. [kg/s^2]
3 The stiffness constant times the relaxation position of the spring. [kg*m/s^2]
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 1

Puma robot

Description:

  • - Gravity constant
  • - Mass of the ith link
  • - length of the common normal between the ith and ith+1 joints
  • - offset along z axis between the ith and ith+1 joints
  • - The distance from the ith joint to the center of mass of the ith link
Number Parameter Comments
1
kg*m^2
2 kg*m^2
3 kg*m^2
4 kg*m^2
5 kg*m^2
6 kg*m^2
7 kg*m^2
8 kg*m^2
9 kg*m^2
10 kg*m^2
11 kg*m^2
12 kg*m^2
13 kg*m^2
14 kg*m^2
15 kg*m^2
16 kg*m^2
17 kg*m^2
18 kg*m^2
19 kg*m^2
20 kg*m^2
21 kg*m^2
22 kg*m^2
23 kg*m^2

Dynamic Model 2 - Gravity

Number Parameter Comments
1 kg*m^2/s^2
2 kg*m^2/s^2
3 kg*m^2/s^2
4 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