Write the equations of motion and derive the four matrices of state space (A, B, C, D)
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M1 inger arm outer arm M2 M3 The robot consists of: 1- Hydraulic oil with bulk modulus-1.5x10° Pa, kinematic viscosity= 200 cSt, Specific gravity=0.9, in 13 mm diameter rusted steel pipes with 5 standard 90º elbows at the pressure line and other 5 at the return line. 2- Hydraulic pump at M1 with volume Vp=0.01 m³, leakage coefficient=5x10-11 m³/N/s, pump speed = 1400 rpm, y = 0.1, Kp 4x10-³, Pump power-1 KW 3- Reversible hydraulic motor at M1 with volume VM-0.01 m³, head=1.5 m, displacement 2 1/radian, max. motor speed = 200 rpm and motor acceleration = 1.2 rad/s² 4- Reversible hydraulic motor at M2 with volume VM2-0.01 m³, head=1.5 m, displacement 2 1/radian, max. motor speed = 200 rpm and motor acceleration = 1.2 rad/s² 5- Double acting hydraulic linear piston at M3 with piston diameter DM3=5 cm, rod diameter RM3= 2 cm, stroke=30 cm 6- Inner arm with length L₁=0.6 m and mass m₁=3 kg 7- Outer arm with length L2=0.5 m and mass m2=2 kg 8- Load at the end effector equals to 100 kg M1 inger arm outer arm M2 M3 The robot consists of: 1- Hydraulic oil with bulk modulus-1.5x10° Pa, kinematic viscosity= 200 cSt, Specific gravity=0.9, in 13 mm diameter rusted steel pipes with 5 standard 90º elbows at the pressure line and other 5 at the return line. 2- Hydraulic pump at M1 with volume Vp=0.01 m³, leakage coefficient=5x10-11 m³/N/s, pump speed = 1400 rpm, y = 0.1, Kp 4x10-³, Pump power-1 KW 3- Reversible hydraulic motor at M1 with volume VM-0.01 m³, head=1.5 m, displacement 2 1/radian, max. motor speed = 200 rpm and motor acceleration = 1.2 rad/s² 4- Reversible hydraulic motor at M2 with volume VM2-0.01 m³, head=1.5 m, displacement 2 1/radian, max. motor speed = 200 rpm and motor acceleration = 1.2 rad/s² 5- Double acting hydraulic linear piston at M3 with piston diameter DM3=5 cm, rod diameter RM3= 2 cm, stroke=30 cm 6- Inner arm with length L₁=0.6 m and mass m₁=3 kg 7- Outer arm with length L2=0.5 m and mass m2=2 kg 8- Load at the end effector equals to 100 kg
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To derive the state space equations for the given system we need to define the state variables and their derivatives Lets denote the state variables a... View the full answer
Related Book For
Introduction to Operations Research
ISBN: 978-1259162985
10th edition
Authors: Frederick S. Hillier, Gerald J. Lieberman
Posted Date:
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