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Tyrone Emily · Geregistreerd op: 13 Jul 2020 Berichten: 3

The puma australia first step was carried out with a LISP program, named by the PUMA model can be reduced from 126 to 39 with fourEMDEG, which symbolically generates the dynamic model of an equations thathold on the derivatives of the kinetic energy matrixarticulatedmechanism.EMDEGemploys Kane's dynamic for- elements.The first two equationsaregeneral;the last two aremulation [Kane 19681, and produced a result comparable in form specific to the PUMA 560. The equations are:and size to that of ARM [Murry and Neuman 1984).

Three sirn-plifying assumptions were made for this analysis: the rigid bodyassumption;link 6 hasbeenassumed to besymmetric, that isI,% = Zyy; and only the mass moments of inertia are considered,that is I,,, Zyy and Z z z . The original output of EMDEG, includ-ing Coriolisand centrifugal terms, required 15,000 multiplicationsand 3,500 additions. This step might also have been performedwith the momentum theorem method puma shoes used in [lzaguirre and Paul19851.In the second step of this procedure, the kinetic energy ma- The reduction of Equation (7) arises from the symmetry oftrix elements are simplified by combining inertia constants that the kineticenergymatrix.

Equation ( Cool

obtains because the ki-multiply common variable expressions. This is the puma suede 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 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 ( & 83) J a Y y sin2(82 83) JzZr &m3 thePUMAarmareparallel.

The mass of each component was r puma womens shoes 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.

ThetolerancevaluesarederivedMeasurement of Rotational Inertia from the precision or smallestgraduation of the measuring in- strument used, or from the repeatability of the measurement it- The two wire suspension shown in Figure1 was used to mea- self. Thetolerancesarereportedwhere the data are presented.surethe I,,, Iyyand I,, parameters of linkstwo and three *. The tolerance values assigned to calculated parameters were de-With this arrangement a rotational pendulum is created about termined by RMS combination of the tolerance assigned to eachanaxisparallel toand halfwaybetween the suspension wires.The link's center of gravity must puma mens shoes lie on this axis.

The gear ratios,maximummotortorque, and break away torque for eachjoint of thePUMA is reported in Table 7. The maximum motor torque and break away torque values have been taken from data collected during our motor calibration process. Thecurrentamplifiers of the Unimatecontrolleraredriven by 12 bit D/A converters, so the nominal torque resolution can be 7btained by dividing the reported maximum joint torqueby 2048. Table 7 . Motor and Drive ParametemTheinertiadyadicand effect,ive motorand driveinertia I Joint I Joint 2 Joint 3 Joint 4 Joint 5 Joint ti Gear [img]http://www.simplypotterheads.com/images/lose/puma mens shoes-967raz.jpg[/img] Ratio 107.36 53.69 76.01 71.91 76.73terms are reported in Table6.