Dynamic Models

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Rotational Axes

Dynamic Model 1 - simple rotary axis

Number Parameter Comments
1 Total moment of inertia of the moved part.

Linear Axes

Dynamic Model 1 - horizontal axis

Number Parameter Comments
1 Total mass of the moved part.

Dynamic Model 2 - vertical or tilted 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)

Traverse Arm Robots

Dynamic Model 1

Number Parameter Comments
1
2
3
4
5
6

Scara Robots

Dynamic Model 1

Number Parameter Comments
1
2
3
4
5
6
7
8

Delta Robots

Dynamic Model 1

Number Parameter Comments
1
2
3
4
5
6
7
8
9
10
11
12
13
14