puma creeper

Which symbolically puma creeper 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.

Of gravity and the terms of the inertia dyadic.Thewrist,link where I I = M-wg2 ** r12three and link two of a PUMA 560 arm were detached in order Mgto measure these parameters. The mass of each component was r is theinertiaabouthe axis of rotation;determined with a beam rihanna fenty puma 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 rihanna puma shoes 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. The drivesand reduction gears were not removed from the links.

So the total Measurement of the Motor and Drive Inertiamotor and drive contribution puma by rihanna creeper 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 .

Themotors were mass of thearm. To makethismeasurementourcontrolsys-left installed in linkstwo and three when the 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 fenty puma creepers system, the totalthe rotating motor armatures is neglected in the model.

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. The two wire suspension used for Rotational not removed fromthe base. Separately measured mass and inertia Inertia Measurement. terms are not required for link one because

that link rotates only about its own 2 axis .