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

L. J. Stocco, M. J. Yedlin

2007

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.

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