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🔥ARM MASS WORKOUT - ALL... - Renshaw's Personal Training

🔥ARM MASS WORKOUT - ALL... - Renshaw's Personal Training

已浏览 1.6万次2018年9月9日

FacebookRenshaw's Personal Training

A single link of a robot arm is shown in Figure P3.38. The arm mass is m and its center of mass is located a distance L from the joint, which is driven by a motor torque Tm through two pairs of spur gears. We model the arm as a pendulum with a concentrated mass m. Thus, we take the arm's moment of inertia IG to be zero. The gear ratios are N1=2 (the motor shaft has the greater speed) and N2=1.5 (the shaft connected to the link has the slower speed). Obtain the equation of motion in terms of the

A single link of a robot arm is shown in Figure P3.38. The arm m…

A single link of a robot arm is shown in Figure P6.42. The arm mass is m and its center of mass is located a distance L from the joint, which is driven by a motor torque Tm through spur gears. Suppose that the equivalent inertia felt at the motor shaft is 0.215 kg ·m^2. As the arm rotates, the effect of the arm weight generates an opposing torque that depends on the arm angle, and is therefore nonlinear. For this problem, however, assume that the effect of the opposing torque is a constant 4.2

A single link of a robot arm is shown in Figure P6.42. The arm m…

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