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Paper Information

Journal:   JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING   MAY 2013 , Volume 2 , Number 5; Page(s) 1 To 10.
 
Paper: 

MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL

 
 
Author(s):  RAJABPOUR ATA OLAH*, ZAREI AMIR, RAJABPOUR AREZOO
 
* 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: 
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Click to Cite.
APA: Copy

RAJABPOUR, A., & ZAREI, A., & RAJABPOUR, A. (2013). MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL. JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING, 2(5), 1-10. https://www.sid.ir/en/journal/ViewPaper.aspx?id=408369



Vancouver: Copy

RAJABPOUR ATA OLAH, ZAREI AMIR, RAJABPOUR AREZOO. MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL. JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING. 2013 [cited 2021May15];2(5):1-10. Available from: https://www.sid.ir/en/journal/ViewPaper.aspx?id=408369



IEEE: Copy

RAJABPOUR, A., ZAREI, A., RAJABPOUR, A., 2013. MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL. JOURNAL OF ARTIFICIAL INTELLIGENCE IN ELECTRICAL ENGINEERING, [online] 2(5), pp.1-10. Available: https://www.sid.ir/en/journal/ViewPaper.aspx?id=408369.



 
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