| Olga Washington |
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| Geregistreerd op: 13 Jul 2020 |
| Berichten: 3 |
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Thirty four lumped constants are needed 1.Symbolic Generation new balance mens shoes of the kinetic energy matrix and by the full PUMA model, 8 fewer than the count of 42 simple pa- gravity vector elements by performing the summations of rameters required to describe the arm. either Lagrange's or the Gibbs-Alembert formulation. In thethirdstepthe elements of the Coriolis matrix,Qij, 2. Simplification of the kinetic energy matrix elements by and of the centrifugal matrix, ci,, arewritten in terms of the combining inertia constants that multiply common Christoffelsymbols of the first kind [Corbenand Stehle 1950; variable expressions. Likgeois et al. 1976]* giving: 3.Expression of the Coriolis and centrifugal matrix elements b.
Equation ( obtains because the ki-multiply common variable expressions. This is the greatest source netic energy imparted by the velocity of a joint is independent ofof computational efficiency. Looking to the dynamic model of a 3 theconfiguration of new balance outlets thepriorjoints.Equation (9) resultsfromdof manipulator presented in [Murry and Neuman 19841,we see the symmetry of the sixth and terminal link of the PUMA arm.that the kinetic energy matrix element a11 is given by: Andequation (10) holdsbecausethesecond a d third axes of a11 = J322 c o s 2 ( new balance shoes for men & 83) J a Y y sin2(82 83) JzZr &m3 thePUMAarmareparallel.
Of the reductionfrom 126 to 39 2 kf3za" cos(82)cos(82 d 3 ) uzm3 cos2(e2) unique Christoffel symbols, 61 eliminations are obtained with the 2 Mzza3 cos"(82 03) a$m3 c0s2(82 83) general equations, 14 more with (9)and a further 12 with (10). $2 a2a3m3 eos(Bz)<�oos(82 6 3) JpYy sin"(62) (2) Step four requires differentiating the mass matrix elements withrespect to the configurationvariables.Themeans to carry Jz=, cos2(82) 2 dzdsms 2 Mz2a2 cos2(&) outdifferentiationauto,naticallyhavebeenavailableforsome a;mz cos2(&) d i m s dZm2 J2zz Jizz JizzCalculationsrequired: 37 multiplications,18additions.
new balance shoes men The drivesand reduction gears were not removed from the links, so the total Measurement of the Motor and Drive Inertiamotor and drive contribution ateach joint was determined by anidentification method. This contribution is considered separately A parameter identificationmethod was used t o learnthefrom the I,, term of the link itself because the motor and drive totalrotationalinertiaateachjoint.Thisinertiaincludes t,heinertia seen through the reduction gear does not contribute to the effective motor and drive inertia and the contribution due to theinertialforcesattheotherjointsinthearm.
If one is carefulwhenreleasing the link, it Link 2 17.40is possible to start fundamentalmodeoscillationwithout visi- Link 3 4.80blyexcitingany of the other modes. The relationshipbetween Link 4* 0.82measured properties and rotational inertia is: Link 5* 0.34 Link 6* 0.09 * This method was suggested by Prof. David Powell. Link 3 wiCthomplete LVrist 6.04 Detached Wrist 2.24 * Values derived from external dimensions; f 2 5 % . The positions of the centers of gravity are reported in Table 5. The dimensions rz! ry and rz refer to the x, y and z coordinates 513of the center of gravity in the coordinate frame attached t o the Table 5 . Centers new balance sale of Gravity.
It was necessary to add positive velocity feedback rected away from the base; Y5 is directed toward (damping factor -0.1) to causejoint one to oscillateforseveral link 2 when joint 5 is in the zero position. cycles.Link 6: Theorigincoincideswith that of frame 4; when joints 5 and 6 arein the zeropositionframe 6 is aligned with frame 4.Wrist : The dimensions are reported in frame 4. Table 6. DiagonalTerms of the Inertia Dyadics and Effective Motor Inertia.Figure 2. The PUMA 560 in the Zero Position with Attached * Iucrtia Diadic [img]http://www.simplypotterheads.com/images/lose/new balance sale-267aje.jpg[/img] term derived from external dimenJions; *SO%. Coordinate Frames Shown. |
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