Authors:
L. J. Stocco
and
M. J. Yedlin
Affiliation:
The University of British Columbia, Canada
Keyword(s):
Mass matrix, inertia matrix, MP model, pulley, differential transmission, mechanical system representation, robot dynamics, impedance, equivalent electric circuit.
Related
Ontology
Subjects/Areas/Topics:
Biomedical Engineering
;
Biomedical Signal Processing
;
Informatics in Control, Automation and Robotics
;
Signal Processing, Sensors, Systems Modeling and Control
;
Time and Frequency Response
;
Time Series and System Modeling
;
Time-Frequency Analysis
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.