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Vivian Edie
Geregistreerd op: 16 Jul 2020
Berichten: 3
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 Geplaatst: 17-07-2020 03:37:38 Onderwerp: puma australia |
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* The French authors seem to assume the use puma australia of Cristoffel symbols, while the American authors seem unaware ofBy combining inertial constants with common variable termsand them.CorbenandStehle,inthe 1950 edition of theirexpanding sin2(82) into (1- c o s 2 ( & ) ) , equation (2) can be re- text, derive the results required here; but the derivationduced to: is largely omitted from their 1960 edition.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.
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, puma shoes 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 puma suede 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 puma womens shoes 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.
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 .of the link, thelocation of the center of gravity, the distancefromthe wire attachment points to the axis of rotation, the length of Table 4. Link Masses (kilograms; kO.01 1%)the wires, andtheperiod of rotationaloscillation. Theinertiaabout eachaxis is measured by configuring the link to swing Link Massabout that axis. Rotational oscillation is started puma mens shoes by twisting andreleasing the link.
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. |
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