ME5286CourseNotes08-09 - Static Force Analysis: Another...

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Static Force Analysis: Another Role for the Jacobian
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Static Force Analysis: Balance of forces and moments Consider forces and moments acting on link i . Arm links are stationary.
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Exerted on the end effector by an external object Special Case
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Equivalent Joint Torques Actuator I exerts scalar torque or force τ I between link I-1 and link I in the direction of joint axis I-1. Find the relationship between τ I and F ˚ I-1 or N ˚ I-1, I Moment N ˚ I-1, I and other components of F ˚ I-1, I are supported by the joint mechanism internal force and moment All the other components are supported by the joint structure. Joint torque vector, N x 1 Endpoint force and moment, 6 x1 De±nition:
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Consider the virtual work done by the N actuators and the environment on the arm linkage Theorem The joint torques τ required for a manipulator to exert a given force and moment F at its end point are given by where friction in the joint mechanisms are ignored and gravity forces are not included. The matrix
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This note was uploaded on 11/25/2009 for the course MECH 371 taught by Professor Craig during the Spring '09 term at Hong Kong Institute of Vocational Education.

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ME5286CourseNotes08-09 - Static Force Analysis: Another...

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