new balance australia

[Thera Kennedy]

Equation ( obtains because the ki-multiply new balance australia common variable expressions. This is the greatest source netic energy imparted by the velocity of a joint is independent ofof computational efficiency. Looking to the dynamic model of a 3 theconfiguration of thepriorjoints.Equation (9) resultsfromdof manipulator presented in [Murry and Neuman 19841,we see the symmetry of the sixth and terminal link of the PUMA arm.that the kinetic energy matrix element a11 is given by: Andequation (10) holdsbecausethesecond a d third axes of a11 = J322 c o s 2 ( & 83) J a Y y sin2(82 83) JzZr &m3 thePUMAarmareparallel.

The mass of each component was r is theinertiaabouthe axis of rotation;determined with a beam balance; the cenotfergravity was located is the weight of the link;by balancing each link on a knife edge, once orthogonal to each w is thdeistance fromeacshuspensionaxis; and the diagonal terms of new balance shoes the inertia dyadic were measured wire to the axis of rotation;with a two wire suspension. 1 is the oscillatiofnrequency in radians per second;The motor and drive mechanism at each joint contributes to is thelength of thesupporting wires.the inertia about that joint an amount equal to the inertia of new balance 247 therotating pieces magnified by the gear ratio squared.

from the measured total inertia, the motor and drive inertial con- The parametersof the wrist linkswere not directly measured. tributions were found.The wrist itself was not disassembled. But the needed parameterswere estimatedusingmeasurements of the wristmass and the Measurement Toleranceexternal dimensions of the individual links. To obtain the inertialterms, the wrist links were modeled as thin shells. A tolerance for each direct measurement was established as the measurement was taken.

ThetolerancevaluesarederivedMeasurement of Rotational Inertia from the precision or smallestgraduation of the measuring in- strument used, or from the repeatability new balance 574 of the measurement it- The two wire suspension shown in Figure1 was used to mea- self. Thetolerancesarereportedwhere the data are presented.surethe I,,, Iyyand I,, parameters of linkstwo and three *. The tolerance values assigned to calculated parameters were de-With this arrangement a rotational pendulum is created about termined by RMS combination of the tolerance assigned to eachanaxisparallel toand halfwaybetween the suspension wires.The link's center of gravity must lie on this axis.

If one is carefulwhenreleasing the link, it Link 2 17.40is possible to start fundamentalmodeoscillationwithout visi- Link 3 4.80blyexcitingany of the other modes. The relationshipbetween Link 4* 0.82measured properties and rotational inertia is: Link 5* 0.34 Link 6* 0.09 * This method was suggested by Prof. David Powell. Link 3 wiCthomplete LVrist 6.04 Detached Wrist 2.24 * Values derived from external dimensions; f 2 5 % . The positions of the centers of gravity are reported in Table 5. The dimensions rz! ry and rz refer to the x, y and z coordinates 513of the center of gravity in the coordinate frame attached t o the Table 5 . Centers of Gravity.

Link 4: The origin is new balance outlet at the intersection of the axes of joints * Values derived from external dimensions; &25%. 4 5 and 6; 24 is along the axis of rotationand The effective torsional spring methodof inertia measurement was appliedateachjoint.Themotor and drive inertia, Imotor, direct.ed away from link 2; Y4 11 Z3 whenjoint were foundby subtractingtheinertialcontributiondue to the arm dynamics, known from direct measurements, from the total 4 is in the zero position. inert,ia measured.Theuncertainty in the total inertia measure- ment is somewhat higher at joint one becauseof the larger frictionLink 5: The origin coincides [img]http://www.simplypotterheads.com/images/lose/new balance outlet-680mil.jpg[/img] withthat of frame 4; Z5 is di- at that joint.

[susanmayer]

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