The robot transmission and actuators model design; the Traditional strategy Curse 6-7.

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Presentation transcript:

The robot transmission and actuators model design; the Traditional strategy Curse 6-7

Modeling: the robot Ac Tr MSt Tk V(t) T(t) (t) q(t) x(t)

The dynamic model of the structure

Modeling: the robot Ac Tr MSt Tk V(t) T(t) (t) q(t) x(t)

The dynamic model of the gear box 1 2 3 4 n

The dynamic model of the gear box qM q  J1,b1 z1 J3,b3 z2 z3 z4 q2

The dynamic model of the gear box qM q T  M   T n1 n2 n3 n4 2

The dynamic model of the gear box qM q  J1,b1 n1 J2,b2 n2 n3 q2 T J3,b3

The dynamic model of the gear box qM q  J1,b1 n1 J2,b2 n2 n3 q2 T J3,b3

The dynamic model of the gear box q1 q6 T6 n1 n2 n3 n4 T1 q1 k1(q1-q2) T6 J2 J3 n3 n4 T1 J4 J5 J6 q2 q3 q4 q5 q6 k2(q3-q4) k3(q5-q6) T2 T3 T4 T5

The dynamic model of the gear box

The dynamic model of the gear box

Structure +Gear box Ac Tr MSt Tk V(t) T(t) (t) q(t) x(t)

The dynamic of the actuator 1 2 3 4 n

The dynamic of the actuator

Structure +Gear box +Actuator

Structure +Gear box Ac Tr MSt Tk V(t) T(t) (t) q(t) x(t)

Classical (traditional) strategy

Classical (traditional) strategy m1,J1 m2,J2 l1 c11 c22 q1 q2 x0 x1 x2 y0 Gripper Joint 1 Joint 2 Link1 Link 2

Classical (traditional) strategy Kbqm i b JM KMi T V J

Classical (traditional) strategy

Classical (traditional) strategy

Classical (traditional) strategy

Classical (traditional) strategy

Classical (traditional) strategy

Classical (traditional) strategy

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