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