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Download A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.) PDF

By Moshe Shoham (auth.)

ISBN-10: 1461598885

ISBN-13: 9781461598886

ISBN-10: 1461598907

ISBN-13: 9781461598909

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Extra info for A Textbook of Robotics 2: Structure, Control and Operation

Sample text

The moment of inertia, and the angular acceleration are interrelated by the formula: M =I 45 Structure, Control and Operation In this formula, the values represented are: M = moment exerted at the joint; I = moment of inertia; a = angular acceleration. Therefore, for a given moment supplied by the motor, angular acceleration will change in a manner inversely proportional to any change in moment of inertia. Examining the above two examples, differences exist in the moments given load at a given velocity, or angular acceleration with a given areas of the work envelope.

The moment of inertia, and the angular acceleration are interrelated by the formula: M =I 45 Structure, Control and Operation In this formula, the values represented are: M = moment exerted at the joint; I = moment of inertia; a = angular acceleration. Therefore, for a given moment supplied by the motor, angular acceleration will change in a manner inversely proportional to any change in moment of inertia. Examining the above two examples, differences exist in the moments given load at a given velocity, or angular acceleration with a given areas of the work envelope.

Since most industrial robots are not mobile, but fixed in place, it is greatly preferable that their work envelopes include as large a work volume as possible. In the following sections, we will compute 46 The mechanical arm the work envelopes of the various types of robots and compare them. To form a basis for comparison, we will make three assumptions: * * * All robot links will be of a standard length, L. The extent of linear motion of all prismatic joints is equal to A. All revolute joints can rotate 3600.

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A Textbook of Robotics 2: Structure, Control and Operation by Moshe Shoham (auth.)


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