Ros, J.; Iriarte, X.; Mata Amela, V. (2012). 3D inertia transfer concept and symbolic determination of the base inertial parameters. Mechanism and Machine Theory. 49:284-297. https://doi.org/10.1016/j.mechmachtheory.2011.09.006
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/112088
Title:
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3D inertia transfer concept and symbolic determination of the base inertial parameters
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Author:
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Ros, Javier
Iriarte, Xabier
Mata Amela, Vicente
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UPV Unit:
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Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
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Issued date:
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Abstract:
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[EN] A new and simple symbolic/geometric procedure to obtain the base inertial parameters of general mechanisms is presented. The procedure is based on: 1) the concept of low mobility of bodies with respect to the Inertial ...[+]
[EN] A new and simple symbolic/geometric procedure to obtain the base inertial parameters of general mechanisms is presented. The procedure is based on: 1) the concept of low mobility of bodies with respect to the Inertial Reference frame (IR), which allows one to determine the inertial parameters that do not have an effect on the motion dynamics; and 2) a generalisation of the mass transfer method introduced in [1,2] in such a way that first and second moments of inertia can also be transferred. The concepts of monopole, dipole and quadrupole mass distributions (multipoles) are introduced as means to visualise the inertia transfers and cancellations geometrically, greatly simplifying the application of the method. Criteria that simplify the symbolic expressions of base inertial parameters and of the equations of motion are given for the selection of optimal frames to define inertial properties. The proposed method is illustrated with a 3RPS parallel manipulator, demonstrating how expressions for the base parameters can be obtained in symbolic form.
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Subjects:
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Robotics
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Parameter identification
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Base parameters
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SymbolicInertia transfer
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Multipole
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Copyrigths:
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Cerrado |
Source:
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Mechanism and Machine Theory. (issn:
0094-114X
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DOI:
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10.1016/j.mechmachtheory.2011.09.006
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Publisher:
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Elsevier
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Publisher version:
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https://doi.org/10.1016/j.mechmachtheory.2011.09.006
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Project ID:
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info:eu-repo/grantAgreement/MICINN//DPI2010-20814-C02-01/ES/IDENTIFICACION DE PARAMETROS DINAMICOS EN VEHICULOS LIGEROS Y ROBOTS MOVILES. APLICACION A LA IDENTIFICACION EN TIEMPO REAL./
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Thanks:
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This research has been partially supported by the Spanish Government grant # DPI2010-20814-C02-01(IDEMOV) and the "Salvador de Madariaga" fellowship #PR2009-0259.
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Type:
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Artículo
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