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

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

3. The dynamic model of the structure

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

5. The dynamic model of the gear box1 2 3 4 n

6. The dynamic model of the gear boxqM q 
J1,b1 z1
J3,b3 z2 z3 z4 q2

7. The dynamic model of the gear boxqM q T  M   T n1 n2 n3 n4 2

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

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

10. The dynamic model of the gear boxq1 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

11. The dynamic model of the gear box

12. The dynamic model of the gear box

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

14. The dynamic of the actuator1 2 3 4 n

15. The dynamic of the actuator

16. Structure +Gear box +Actuator

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

18. Classical (traditional) strategy

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

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

21. Classical (traditional) strategy

22. Classical (traditional) strategy

23. Classical (traditional) strategy

24. Classical (traditional) strategy

25. Classical (traditional) strategy

26. Classical (traditional) strategy