Paper Information

Journal:   JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING   NOVEMBER 2013 , Volume 2 , Number 7; Page(s) 34 To 43.
 
Paper: 

ELECTRONICAL AND MECHANICAL SYSTEM MODELING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL

 
 
Author(s):  RAJABPOUR ATA OLAH*, ZAREI AMIR, RAJABPOUR AREZOO, AHMADI FATEMEH
 
* DEPARTEMANT OF CHEMISTRY, AHAR BRANCH, ISLAMIC AZAD UNIVERSITY, AHAR, IRAN
 
Abstract: 

The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulate a capacitor in the general case. This new MP model is used to model the off-diagonal elements of a mass matrix so that devices whose effective mass is coupled between more than one actuator can be represented by a mechanical system diagram that is topographically parallel to its equivalent electric circuit model. Specific examples of this technique are presented to demonstrate how a mechanical model can be derived for both a serial and a parallel robot with both two and three degrees of freedom. The technique, however, is extensible to any number of degrees of freedom.

 
Keyword(s): MASS MATRIX, INERTIA MATRIX, MP MODEL, PULLEY, DIFFERENTIAL TRANSMISSION, MECHANICAL SYSTEM REPRESENTATION, ROBOT DYNAMICS, IMPEDANCE, EQUIVALENT ELECTRIC CIRCUIT
 
References: 
  • ندارد
 
  pdf-File tarjomyar Yearly Visit 55
 
Latest on Blog
Enter SID Blog