Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd Logo
Upload

Welcome to Scribd!

  • 122 views

    Ps 7

    Uploaded by

    Roger Salomon Quispe
    1) The document describes a problem set for a robotics course involving two multi-degree of freedom robotic systems. 2) For the first problem, a two degree of freedom robotic arm is analyzed to determine expressions for inertia properties, forces, and dynamic equations of motion. 3) For the second problem, a three degree of freedom rehabilitation bed/chair system is described and students are tasked with interpreting elements of the inertia matrix and deriving expressions for two specific elements.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Ps 7

    Uploaded by

    Roger Salomon Quispe
    122 views3 pages
    1) The document describes a problem set for a robotics course involving two multi-degree of freedom robotic systems. 2) For the first problem, a two degree of freedom robotic arm is analyzed to determine expressions for inertia properties, forces, and dynamic equations of motion. 3) For the second problem, a three degree of freedom rehabilitation bed/chair system is described and students are tasked with interpreting elements of the inertia matrix and deriving expressions for two specific elements.

    Original Description:

    ingenieria

    Original Title

    ps7

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    1) The document describes a problem set for a robotics course involving two multi-degree of freedom robotic systems. 2) For the first problem, a two degree of freedom robotic arm is analyzed to determine expressions for inertia properties, forces, and dynamic equations of motion. 3) For the second problem, a three degree of freedom rehabilitation bed/chair system is described and students are tasked with interpreting elements of the inertia matrix and deriving expressions for two specific elements.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    122 views3 pages

    Ps 7

    Uploaded by

    Roger Salomon Quispe
    1) The document describes a problem set for a robotics course involving two multi-degree of freedom robotic systems. 2) For the first problem, a two degree of freedom robotic arm is analyzed to determine expressions for inertia properties, forces, and dynamic equations of motion. 3) For the second problem, a three degree of freedom rehabilitation bed/chair system is described and students are tasked with interpreting elements of the inertia matrix and deriving expressions for two specific elements.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 3

    Massachusetts Institute of Technology

    Department of Mechanical Engineering

    2.12 Introduction to Robotics

    Problem Set No.7


    Out: November 9, 2005

    Due: November 16, 2005

    Problem 1
    A two degree-of-freedom robot arm with one prismatic joint is shown below. The
    direction of the prismatic joint is perpendicular to the centerline of the first link. As shown in the
    figure, joint angle and distance z between the tip of the first link and the mass centroid of the
    second link are used as generalized coordinates. The first actuator fixed to the base link produces
    torque about the first joint, while the second actuator located at the tip of the first link generates
    linear force f acting on the second link. Using the parameters shown in the figure, answer the
    following questions.
    Joint 2
    Prismatic joint

    l1

    Vc1

    l c1

    z
    I 2 , m2

    f
    I1 , m1
    Link 1

    Link 2

    Vc2

    ,
    O

    Joint 1
    Revolute joint

    Figure 1 Mass properties and link parameters of a two d.o.f. arm


    a). Obtain the moment of inertia reflected to Joint 1 when the second joint is fixed at z = z0 . At
    which arm configuration does the moment of inertia become minimal?
    b). Obtain the centrifugal force acting on Link 2 when the first joint is rotating at a constant
    angular velocity & ? Also obtain the torque induced by the centrifugal force upon Joint 1, i.e. the
    joint torque needed for canceling out the centrifugal effect.
    c). Obtain the Coriolis force acting on Link 2 when the first joint is rotating at a constant angular
    velocity & and the second joint is moving at a constant linear velocity z& . Also obtain the torque
    induced by the Coriolis force upon Joint 1.
    d). Obtain the linear velocity vector of each mass centroid, Vci, as functions of generalized
    coordinates and their time derivatives.
    e). Obtain the linear acceleration vector of each mass centroid, aci.
    f). Obtain Newton-Eulers equations of motion by drawing Free-body-diagrams of the individual
    links.
    g). Eliminate constraint forces involved in the Newton-Euler equations, and obtain closed-form
    dynamic equations relating actuator torques, and f, to , &, && and z , z&, &z& .

    Problem 2
    Figure 2 shows the schematic of a three degree-of-freedom rehabilitation bed/chair
    system. The seat is tilted with Actuator 1 fixed to the base frame. The back leaf and the footrest
    are driven together by Actuator 2 fixed to the seat. Note that the motor shaft of Actuator 2 is
    connected to a belt-pulley mechanism to move the footrest together with the back leaf. The
    headrest is moved with Actuator 3 fixed to the seat through another belt-pulley mechanism as
    shown in the figure. Figure 3 shows the kinematic structure and joint variables along with
    geometric and mass parameters of the individual links. Note that joint angles 2 and 3 are
    measured from the seat, while angle 1 is from the base frame.

    Head Rest
    Actuator 3
    Belt
    Actuator 1
    Back Leaf
    Seat
    Actuator 2
    Belt
    Foot Rest
    Base Frame

    Figure 2 Powered rehabilitation bed-chair


    Link 3
    l3
    lc3
    l2

    lc2 C2

    l1
    l0
    O0

    lc1
    C1

    O1

    Link 0

    lc0

    C0

    m 0, I 0

    O3

    Endpoint E
    C3
    3

    m 3, I 3

    m 2, I 2
    Link 2

    O2
    x

    m 1, I 1

    Link 1

    Figure 3 Mass parameters of the bed-chair system Figures by MIT OCW. 2

    The closed-form equations of motion are in form:

    1 = H111 + H122 + H133 + "


    2 = H 211 + H 222 + H 233 + "

    (1)

    3 = H131 + H 232 + H 333 + "


    where Hij is the i-j element of the 3x3 inertia matrix H = {H ij } associated with the joint
    coordinates. Answer the following questions.
    a) Explain the physical meaning of the inertia matrix elements H11 and H 22 , respectively.
    Show which part of the link inertia is associated with each of H11 and H 22 . Be sure
    which type of motion, translation and/or rotation, is involved in H11 and H 22 .
    b) Based on the physical interpretation in part a), obtain H11 and H 22 , respectively. Use the
    mass parameters shown in the figure: mi is mass, Ii the moment of inertia at the centroid
    Ci ; A ci the distance between i-th joint axis and the mass centroid of the link.

    You might also like