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Virgil Doris
Geregistreerd op: 16 Jul 2020
Berichten: 3
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 Geplaatst: 17-07-2020 03:37:26 Onderwerp: new balance australia |
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ÿþ d i m 3 dZm3 2 d2d3m3 dgm2 new balance australia J3yy J3== is the generalizedjoint force vector. r J2== Jzyv Jlzr Jizz; etc.The symbols [ q q ] and [q"] are notation for the n(-l)/Z-vector of C eating Z1 through 1 4 , which are constants of the mecha- nism, leads to a reduction from 35 to 3 multiplications and from[aq]velocity products and the n-vectorof squared velocities. and 18 to 3 additions. Computing the constant Z1 involves 18 calcu- lations. Since the simple parameters required for the calculation[ q 2 ] are given by: of 11 are the input to the RNE, theRNE will effectively carry out The procedure used to derive the dynamimc odel entails four the calculation of Z1 on every pass, producing considerable m-steps: necessary computation.
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 new balance shoes (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.
The mass of each component was r new balance 247 is theinertiaabouthe axis of rotation;determined with a beam balance; the cenotfergravity was located is the weight of the link;by balancing each link on a knife edge, once orthogonal to each w is thdeistance fromeacshuspensionaxis; and the diagonal terms of the inertia dyadic were measured wire to the axis of rotation;with a two wire suspension. 1 is the oscillatiofnrequency in radians per second;The motor and drive mechanism at each joint contributes to is thelength of thesupporting wires.the inertia about that joint an amount equal to the inertia of therotating pieces magnified by the gear ratio squared.
Themotors were mass of thearm. To makethismeasurementourcontrolsys-left installed in linkstwo and three when the new balance 574 inertia of these links tem was configured to command a motor torque proportional towere measured, so the effect of their mass as the supporting links displacement, effecting a torsional spring. By measuring the pe-move is correctly considered. The gyroscopic forces imparted by riod of oscillation of the resultant mass-spring system, the totalthe rotating motor armatures is neglected in the model, but the rotational inertia about each joint was determined. By subtract-data presented below include armature inertia andgear ratios, so ing the arm contributions, determinedfrom direct measurements,these forces can be determined.
The twowire direct measurement contributing to the calculation. The inertiasuspension method of measuring the rotational inertia requires dyadic and center of gravity parameters of link 3 were measuredknowledge of parameters that are easily measured: the mass with the wrist attached; the values reported for link3 alone have been obtained by subtracting the contribution of the wrist from 9 the total of link 3 plus wrist. Tolerance values are reported with the values for link 3 plus wrist, as these are the original measure- ments. 6. T h e Measured PUMA 660 Parameters "9 The mass of links 2 through 6 of the PUMA arm are reported in Table4;the mass of link 1in not included becausethat link was Figure 1.
(meters 3=0.003)link. Thecoordinateframesusedareassigned by a modifiedDenavit-Hartenbrrgmethod[Craig 85j. In thisvariant of theDenavit-Hartenbergmethod,frame i is attached to link i, and new balance outlet 0.006axis 2i lies along the axis of rotation of joint i. The coordinateframe attachments are shown inFigure 2; theyarelocated as Link 3 -0.070 0.014follows:Link 1: Z axisalong the axis of rotation, Z up; Y1 11 5 Link 3 -0.143 10.014 With Wrist Z2. Link 4* -0.019 Link 5* 0.032Link 2: Z axisalong the axis of rotation , Z awayfrom Link 6* Wrist 0 -0.064 the base; X-Y plane in the center of the link, with X toward link 3.Link 3: 23 11 22; X-Y plane is in the center of [img]http://www.simplypotterheads.com/images/lose/new balance outlet-680mil.jpg[/img] l i d 3; Y is away from the wrist. |
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