Robot Manipulators, New Achievements part 2 docx

... first rule of the robot model described in (4), we have: S 11 2 : I f  θ 2a is M 1 2  and ( J 2 is M 1 J2 ) the n ¨ θ 2a (t) = −77.4 ˙ θ 2a (t) − 3947.5θ 2a (t) + 66150u(t) As the robot model in ... (19 72) “Optimization of Workpiece Size for Turning Accurate Cylindrical Parts”, International Journal of Machine Tool Design and Research, Vol. 12, pp. 22 1 -22 8. Basanez, L. &...

Ngày tải lên: 11/08/2014, 23:21

... based control for two link rigid robot manipulator The elements of the two-link robot model are given by 2 2 22 22 222 1 2 222 1 12 2 122 1 2 2 2 12 2 1111 ;)cos( ;)cos2( IlmD IqlllmDD IIqllllmlmD c cc ccc    ... based control for two link rigid robot manipulator The elements of the two-link robot model are given by 2 2 22 22 222 1 2 222 1 12 2...

Ngày tải lên: 11/08/2014, 23:21

... in an Intel Robot Manipulators, New Achievements2 08 0 500 1000 1500 20 00 25 00 -0.3 -0 .2 -0.1 0 0.1 0 .2 maximum displacement in X direction iteration 0 500 1000 1500 20 00 25 00 -0. 12 -0.1 -0.08 -0.06 -0.04 -0. 02 0 maximum ... StiffnessAnalysisforanOptimalDesignofMultibodyRoboticSystems 20 9 0 500 1000 1500 20 00 25 00 -0.3 -0 .2 -0.1 0 0.1 0 .2 maximum displ...

Ngày tải lên: 11/08/2014, 23:21

... 2 1 21 221 2 2 2 21 1 )()cos (2 lmmqllmlmm  , )cos( 22 12 2 2 221 12 qllmlmmm  , 2 2 22 2 lmm  . 22 2 121 1 )sin( qqllmC   , 22 2 121 2 )sin( qqllmC   , 122 122 1 )sin( qqllmC   , 0 22 C . )cos()()cos( 1 121 2 122 1 qglmmqqglmG ... 2 1 21 221 2 2 2 21 1 )()cos (2 lmmqllmlmm  , )cos( 22 12 2 2 221 12 qllmlmmm  , 2 2 22 2 lmm  . 22...

Ngày tải lên: 11/08/2014, 23:21

...  B ) 166, 176 -24 70, -63, 1 325 24 70 -24 70, -63.01, 1 328 .56 -1670mm, 0mm, 0° 1 82, 22 8 -24 70, 52, 129 5 24 70 -24 70, 46.40, 129 4.85 -1670mm, 0mm, 0° 22 8, 178 -24 70, -58, 120 0 24 70 -24 70, -58.93, ... O M O B Z M =25 c m O M Z B =12c m 520 mm 120 mm 30m m X M =3c m O M O B Z M =25 c m O M Z B =12c m 520 mm 120 mm 30m m Z M =25 c m O M Z B =12c m 520 mm 120 mm...

Ngày tải lên: 11/08/2014, 23:21

... Attributes E M Q L ).( mN k T  k=1 k =2 k=3 k=4 k=5 k=6 Initial 1.4787 20 . 722 3 1.3091 9.3557 10 .27 54 9.3561 9.3561 10 .21 72 10 .21 72 Final 0.0189 19.4 921 1.3 025 8.3071 9.1391 8.3071 8.3071 9.1394 ... i=1 i =2 i=3 i=4 i=5 i=1 i =2 i=3 i=4 i=5 Initial 65.6 27 .7 24 .1 10.0 10.0 0.0 25 4.0 25 4.0 0.0 0.0 Final 65.7 28 .0 21 .8 10.0 10.0 0.0 25 3.6 25 5.9 0.0...

Ngày tải lên: 11/08/2014, 23:21

... b (15) where 11 _ 11 _ 11 _ 11 12 _ 12 _ 12 _ 12 13 _ 13 _ 13 _ 13 21 _ 21 _ 21 _ 21 22 _ 22 _ 22 _ 22 23 _ 23 _ 23 _ 23 31 _ 31 _ 31 _ 31 32 _ 32 _ 32 _ 1 0 0 0 1 0 P i P i P i P i P i P i ... t Y t Z t t X t Y t Z t A    32 33 _ 33 _ 33 _ 33 11 _ 11 _ 11 _ 11 12 _ 12 _ 12 _ 12 13 _ 13 _ 13 _ 13 21 _ 21 _ 21 _ 21 22 _ 22 _ 22 _ 22 23 _ 23 _ 23 _...

Ngày tải lên: 11/08/2014, 23:21

...                                                          0 2 1 2 3 2 3 2 0 2 1 2 3 2 3 2 0 1 00 2 3 2 0 2 1 2 3 2 3 2 0 2 1 2 3 000 31 323 1 323 1 32 313 31 32 313 31 32 313 21 222 122 2 122 21 2 21 22 2 12 2 122 21 2 11 121 1 12 111 11 12 111 3 33 3 3 2 22 2 2 111        ...

Ngày tải lên: 11/08/2014, 23:21

... can be written as 0 A x a   , ( 52)                     2 2 2 2 2 2 2 2 1 1 2 2 1 2 1 2 1 2 2 1 1 2 1 2 1 2 1 2 6 4 0 0 2 4 3 4 1 4 2 3 4 1 4 3 4 1 4 3 3 m m Ay L L a  ...                         , (41)     2 2 2 2 2 2 2 2 1 2 1 2 2 1 0 1 2 1 2 2 2 2 2 0 0 0 1 3 1 3 3 2 2 6 6 3 m m m m...

Ngày tải lên: 11/08/2014, 23:21

... as: max (τ 2 + τ 3 ) = m 2 gl 2 2 max ( sin θ 1 sin (θ 2 + θ 3 ) + cos θ 1 cos θ 3 ) (20 ) = m 2 gl 2 2 max ( sin ` 1 + cos ` 1 ) (21 ) = √ 2 2 m 2 gl 2 (22 ) and therefore max (τ 2 + τ 3 ) = √ 2max(τ 2 ) ... as: max (τ 2 + τ 3 ) = m 2 gl 2 2 max ( sin θ 1 sin (θ 2 + θ 3 ) + cos θ 1 cos θ 3 ) (20 ) = m 2 gl 2 2 max ( sin ` 1 + cos ` 1 ) (21 ) = √ 2 2 m...

Ngày tải lên: 11/08/2014, 23:21