Electronical and Mechanical System Modeling of Robot Dynamics Using a Mass/Pulley Model

journal of Artificial Intelligence in Electrical Engineering

مقاله 5، دوره 2، شماره 7، بهمن 2013، صفحه 34-43   

نویسندگان

Ata olah Rajabpour؛ amir Zarei؛ arezoo Rajabpour؛ Fatemeh Ahmadi

چکیده

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

کلیدواژه‌ها

Mass matrix؛ inertia matrix؛ MP model؛ pulley؛ differential transmission؛ mechanical system representation؛ robot dynamics؛ impedance؛ equivalent electric circuit

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