# MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL

### L. J. Stocco, M. J. Yedlin

#### Abstract

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.

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#### Paper Citation

#### in Harvard Style

J. Stocco L. and J. Yedlin M. (2007). **MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL** . In *Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,* ISBN 978-972-8865-84-9, pages 25-32. DOI: 10.5220/0001614400250032

#### in Bibtex Style

@conference{icinco07,

author={L. J. Stocco and M. J. Yedlin},

title={MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL},

booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},

year={2007},

pages={25-32},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0001614400250032},

isbn={978-972-8865-84-9},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,

TI - MECHANICAL SYSTEM MODELLING OF ROBOT DYNAMICS USING A MASS/PULLEY MODEL

SN - 978-972-8865-84-9

AU - J. Stocco L.

AU - J. Yedlin M.

PY - 2007

SP - 25

EP - 32

DO - 10.5220/0001614400250032