ME5286CourseNotes08-09

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

This preview shows pages 1–6. Sign up to view the full content.

Static Force Analysis: Another Role for the Jacobian

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
Static Force Analysis: Balance of forces and moments Consider forces and moments acting on link i . Arm links are stationary.
Exerted on the end effector by an external object Special Case

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
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:
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

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

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.

Page1 / 14

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

This preview shows document pages 1 - 6. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online