Prof. S.K.

Saha
Statics 1
Statitcs
Lecture 15 July 27, 2009
Statitcs
Prof S K Saha Prof. S.K. Saha
Dept. of Mech. Eng. Dept. of Mech. Eng.
IIT Delhi IIT Delhi
Announcements
ItwasTRULYNICE TRULYNICEtomeetyouallinAAU.
We all had a nice time with you ALL. WeallhadanicetimewithyouALL.
IwouldliketothankyouALLforgivingme
suchaGOOD GOOD feedback.Asperfeedback,
Iamshowingyouthecoursecontents(uploaded)
OutlinesoftodaysLecture15andfiguresof
Chapter7areuploadedas
http://web.iitd.ac.in/~saha/ethiopia/15lec.pdf
/ch7fig.pdf
Prof. S.K. Saha
Statics 2
ReviewofLecture14(July21,2009)
Linkvelocities Linkvelocities
Jacobian Jacobian matrix was derived matrix was derived Jacobian Jacobian matrixwasderived matrixwasderived
Singularitywasdefined Singularitywasdefined
Exampleswith2 Exampleswith2linkmanipulatorwere linkmanipulatorwere
demonstrated demonstrated
Outline
Definition
Linkforcesandmoments
Recursiveformulas
Examples
Summary
Prof. S.K. Saha
Statics 3
Definitions
Statics is the branch of applied physics
concerned with the analysis of moments concerned with the analysis of moments
and forces acting on a systemthat is in
static equilibrium.
For robot manipulators relationships For robot manipulators, relationships
between the joint torques/forces, and
the Cartesian moments and forces at
the end-effector are sought.
ForcesandMoments
f
i-1,i
: 3D vector of resulting force on #i by #(i-1) at O
i
.
n
i-1,i
: 3D vector of resulting moment on #i by #(i-1) at O
i. i 1,i i.
f
i+1,i
: 3D vector of resulting force on #i by #(i+1) at O
i+1
.
n
i+1,i
: 3Dvector of resultingmoment on#i by#(i+1) at O
i+1
.
Pleasenote, f
i+1,i
= f
i,i+1
; n
i+1,i
= n
i,i+1
.
g : 3Dvector of accelerationduetogravity
d
i
: 3Dvector denotingthepositionof themasscenter of the
ithlink, C
i
, relativetotheoriginof theithframe, i.e., O
i
.
3D d i h i i f i i f h (i 1) r
i
: 3D vector denotingthepositionof originof the(i+1)st
frame, i.e., O
i+1
, relativetothecenter of massof linki, C
i
.
a
i
: 3Dpositionvector of O
i+1
withrespect toO
i
suchthat
a
i
=d
i
+ r
i
.
Prof. S.K. Saha
Statics 4
EquilibriumCondition
Fromfree-body diagramin equilibrium:
f
i-1,i
f
i,,i+1
+m
i
g =0
0 g d f a n n = +
+ + i i i,i i i,i ,i i-
m
1 1 1
g f f m = g f f
i i,i ,i i-
m =
+1 1
g d f a n n
i i i,i i i,i ,i i-
m + + =
+ + 1 1 1
Jt. torque (R):
i
=e
i
T
n
i-1, i
; Jt. force (P):
i
=e
i
T
f
i-1, i
TwolinkRRPlanarArm
No gravity is assumed, i.e., g =0

0
] [ ] [ and ;
0
] [
2 2
2 2
3 23 2 2 12 3 23

= =

c f s f
s f c f
f
f
y x
y x
y
x
f Q f f
0
2 2
s c

1 0 0
0
0
2 2
2 2
2
c s
s c
Q
Prof. S.K. Saha
Statics 5
MomentRecursionforJoint2
[ ] [ ] 0
0
[ ] ] [
2 12 2 2 23 2 2 2 12

= = f a f a n
2

y
f a

0
s a
c a

2 2
2 2

2 2
] [a
ForceandMomentatJoint1

12 12
f f
s f c f
y x

+ = =
0
] [ ] [
12 12 2 12 1 1 01
c f s f
y x
f Q f
[ ] [ ]
0
] [ [ ] ] [ ] [
1 01 1 2 12 1 1 12 1 1 1 12 1 01

+ = + f a n Q f a n n
0
2 1 2 1 2

+ +
=
c f a s f a f a
y x y
Prof. S.K. Saha
Statics 6
JointTorques
T
)f ( f ] [ ] [

y x
T
)f c a (a s f a
2 1 2 2 1 1 01 1 1 1
] [ ] [ + + = = n e
y
T
f a
2 2 12 2 2 2
] [ ] [ = = n e
TwolinkRPArm
No gravity is assumed, i.e., g =0
0 ] [ ] [ and ; 0 ] [
3 23 2 2 12 3 23

= =

z
x
z
x
f
f

f
f
f Q f f
[ ] [ ]
0
0
[ ] ] [
2 2 12 2 2 23 2 2 2 12

= =
x
f b f a f a n 0
0
] [
2
2 2

b
a
Prof. S.K. Saha
Statics 7

+
= =
0
] [ ] [
1 1
1 1
2 12 1 1 01
c f s f
s f c f
z x
z x
f Q f

0 1 0
0
0
1 1
1 1
1
c s
s c
Q

0
[ ] [ ]
0
0

] [ [ ] ] [ ] [
2
1 01 1 2 12 1 1 12 1 1 1 12 1 01

=
+ = +
x
f b
f a n Q f a n n

2 x
f
z x
f ; f b = =
2 2 1
and
Assignment3
Find the joint torques for the RRR planar
armif no external torque is applied, i.e., a o e te a to que s app ed, e ,
T
] 0 0 0 [ ] [
4 34
n
Duration: One week, i.e., due on 03
August, 2009 (Monday). Please keep it
ready I may ask by some means to ready. I may ask by some means to
show/submit.
This time I may consider the marks in
the final grade!
Prof. S.K. Saha
Statics 8
Summary
Linkforcesandmomentsarewrittenforthe
l b d staticequilibriumcondition
Recursiverelationsareshown
Examples(RRandRP)areshown
Assignmentisgiven
Thank You Thank You
saha@mech.iitd.ac.in
sahaiitd@gmail.com
Thank You Thank You
http://web.iitd.ac.in/~saha