Mechanical Systems Design C18 The Dynamics pot
Mechanical Systems Design C18 The Dynamics pot
... along the rod r 2 ij . The first goal of this chapter is to derive the equations of motion for the dynamics of the two rods in the ij element. The second goal is to write the dynamics ... Smalley won the Nobel Prize in 1996 for these insights into the Fullerenes. The spider fiber and the Fullerene provide the motivation to construct manmade materials...
Ngày tải lên: 11/08/2014, 15:21
Mechanical Systems Design C20 Robot Dynamics ppt
... means of the matrix relation (20.22). If the chain is considered as one subsystem of the robot and the actuators as the other, then the complete dynamics can be described by combining the two ... became the essential tools in robot design. The other possibility for application of robot dynamics is the synthesis of the so-called dynamic control. In this subsection we...
Ngày tải lên: 11/08/2014, 15:21
Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_8 pot
... loadings. They found that in such a semi-active configuration, the rates of the total system energy (the main structure mechanical energy plus the electrical and mechanical energies of the RSP) and the ... the piezoelectric element, thereby changing the absorber stiffness and tuning the absorber frequency to the favorable value. The range of the adjustable stiffness...
Ngày tải lên: 21/06/2014, 21:20
Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_15 pot
... is rather easy to show that the moment of inertia of the mechanical part of the robot around the axis of the first joint is given by (22.20) If the third link is fixed in the position = 0, the ... can get the model of the actuator and the joint dynamics in the form (22.8) where the matrices are given by: (22.21) The structure of the servo to be synthesized is...
Ngày tải lên: 21/06/2014, 21:20
Electrical Engineering Mechanical Systems Design Handbook Dorf CRC Press 2002819s_19 pot
... presented, the compensating link includes the other leg (not drawn in the figure), which is in the swing phase. The calculation of the inertia moment must include all the links found further onward ... ensure the desired legs trajectories (for example, measured from the human walk). The trajectories for this part of the system are prescribed, while the dynamics of th...
Ngày tải lên: 21/06/2014, 21:20
Mechanical Systems Design Handbook P7 potx
... measuring the movement of the edge of the sheet as it is drawn into the tool. 6 In either case, the strain in the sheet can be used to estimate proximity to failure limits and control the process ... placed rather easily under force or displacement feedback control. The design question then becomes: which is best? Of course, the answer depends upon the details of t...
Ngày tải lên: 02/07/2014, 12:20
Mechanical Systems Design Handbook P13 pot
... Control of the attitude of the vehicle body with respect to the road surface • Control of the attitude of the wheels with respect to both the road surface and the vehicle body • Isolation of the vehicle ... especially in the early design steps. At any stage the use of more complex models is possible for evaluating the performance or more advanced design strategies. I...
Ngày tải lên: 02/07/2014, 12:20
Mechanical Systems Design Handbook P15 potx
... loadings. They found that in such a semi-active configuration, the rates of the total system energy (the main structure mechanical energy plus the electrical and mechanical energies of the RSP) and the ... the piezoelectric element, thereby changing the absorber stiffness and tuning the absorber frequency to the favorable value. The range of the adjustable stiffness...
Ngày tải lên: 02/07/2014, 12:20
Mechanical Systems Design Handbook P19 pot
... time derivative of the rotation matrix in the form (19.53) With reference to the other descriptions of orientation, the relationship between the angular velocity and the time derivative of the unit quaternion ... as the rotation matrix, the unit quaternion, and the Euler angles are briefly recalled. They serve to describe the orientation of the robot’s end effector tha...
Ngày tải lên: 02/07/2014, 12:20
Mechanical Systems Design Handbook P22 pot
... by the motor and the current of the rotor coil), is the current in the rotor coil, is the coefficient of the viscous friction of the motor is the moment reduction ratio at the motor axis (the ... rotor of the motor, is the angle of rotation of the motor (joint) is the load acting around the motor axis, is the mechanical constant of the motor (the coefficien...
Ngày tải lên: 02/07/2014, 12:20