Text_Template

Module 9 : Robot Dynamics & controls

Lecture 32 : General procedure for dynamics equation forming and introduction to control

Terms in Robot Dynamic Equations

This system is similar to a 2-R manipulator except the mass of each link is assumed to be concentrated at the end of each link.

Figure 32.3 2R Manipulator

Centripetal force:

Suppose link 1 is rotated with velocity & link 2 is rotated with velocity.

Now considering link 2,

Centripetal force for link 2

Centripetal force will be provided by link 1. So its reaction on link 1 will be in the direction opposite to the centripetal force . Resolving this reaction component along & perpendicular to link 1

The component perpendicular to link will exert a torque at joint 1 Whose magnitude is given by

Torque= (A)

WEIGHT OF LINKS :

Figure 32.4 2R Manipulator

Now looking at figure given below ,

torue exerted at joint 1 due to wt. of links =

(B)

CORIOLIS FORCE:-

Figure 32.4 Corlolis Force

Contd...