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    Modelado Auxiliar 1

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    Leonardo Rodriguez
    The document discusses dynamic modeling using the Euler-Lagrange formulation. It explains that dynamics deals with forces and torques while kinematics deals with position and velocity. The Euler-Lagrange approach is based on the kinetic and potential energies of the system. It requires determining the generalized coordinates, calculating the kinetic and potential energies as functions of these coordinates, and then evaluating the Lagrange equations. Examples are provided to illustrate generalized coordinates, kinetic energy calculations accounting for mass and inertia, and the mass center.

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    Modelado Auxiliar 1

    Uploaded by

    Leonardo Rodriguez
    32 views26 pages
    The document discusses dynamic modeling using the Euler-Lagrange formulation. It explains that dynamics deals with forces and torques while kinematics deals with position and velocity. The Euler-Lagrange approach is based on the kinetic and potential energies of the system. It requires determining the generalized coordinates, calculating the kinetic and potential energies as functions of these coordinates, and then evaluating the Lagrange equations. Examples are provided to illustrate generalized coordinates, kinetic energy calculations accounting for mass and inertia, and the mass center.

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    Ingeniería mecatrónica problemas a resolver

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    Modelado auxiliar 1

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    The document discusses dynamic modeling using the Euler-Lagrange formulation. It explains that dynamics deals with forces and torques while kinematics deals with position and velocity. The Euler-Lagrange approach is based on the kinetic and potential energies of the system. It requires determining the generalized coordinates, calculating the kinetic and potential energies as functions of these coordinates, and then evaluating the Lagrange equations. Examples are provided to illustrate generalized coordinates, kinetic energy calculations accounting for mass and inertia, and the mass center.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    32 views26 pages

    Modelado Auxiliar 1

    Uploaded by

    Leonardo Rodriguez
    The document discusses dynamic modeling using the Euler-Lagrange formulation. It explains that dynamics deals with forces and torques while kinematics deals with position and velocity. The Euler-Lagrange approach is based on the kinetic and potential energies of the system. It requires determining the generalized coordinates, calculating the kinetic and potential energies as functions of these coordinates, and then evaluating the Lagrange equations. Examples are provided to illustrate generalized coordinates, kinetic energy calculations accounting for mass and inertia, and the mass center.

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    MR95015 ROBOTICS

    . Dynamic analysis

    a.

    Dynamic model by the Euler-Lagrange formulation

    Objectives
    Modeling the dynamics
    Comparison of different approaches
    Energy based (Euler-Lagrange)
    Force and velocity propagation (Newton)

    Dynamics vs. Kinematics

    Kinematics deal with position and velocity


    Dynamics deal with force and torque
    You can go a long way with kinematics simulation
    You can do more with dynamics simulation, e.g. maintain
    constant pressure of the end effecter

    Euler-Lagrange
    It is based on the kinetic and potential energies in the system
    The kinetic and potential energy should be written as function of the
    generalized coordinates (i.e. minimum number of variables required to
    specific the movement of the system)
    With the kinetic and potential energies it is form the Lagrangian or
    Lagrange function
    Then the Lagrange equation is evaluated based on the Lagrangian

    Euler-Lagrange
    Lagrange steps

    Determine generalized coordinates or degrees of freedom (d.o.f.)


    Kinetic energy
    Potential energy
    Substitution into Lagrange equation
    Considering the generalized forces

    Degree of freedom
    Number of independent position variables which
    would have to be specified in order to located all
    parts of the mechanism.

    Generalized coordinates
    Suppose that with any s dimensions (q1 , q2 , , qs ), the position of
    a given system can be specified, then these s dimensions (magnitudes)
    are called generalized coordinates of the system with s d.o.f., and its
    velocities (q1 , q2 , , qs ) are called generalized velocities.
    The generalized positions and velocities are the mechanical state of system,
    i.e. the minimum information required at time t to determine the position of
    the system at any t dt.

    Generalized force
    The force (or torque) applied to a generalized
    coordinate

    Generalized coordinates: examples

    a cos( t )
    x
    l

    1 movement
    1 d.o.f.
    1 generalized coordinate :

    Generalized coordinates: examples


    x

    2 movement
    2 d.o.f.

    l1

    2
    y

    1
    2 generalized coordinate :
    2

    m1
    l2
    m2

    Generalized coordinates: examples

    2 movement
    1 d.o.f.
    1 generalized coordinates
    J

    Generalized coordinates: examples

    3 movement
    2 d.o.f.
    2 generalized coordinates

    Generalized coordinates: examples


    Robot with horizontal plate

    7 movements
    4 d.o.f.
    4 generalized coordinates

    Kinetic energy

    Energy due to motion: rotation and/or translation

    Kinetic energy

    Position and velocity


    The representation of the position and velocity depends on the
    coordinate system under consideration

    In a cartesian coordinate system


    2
    v dx 2 dy 2 dz 2 v 2
    In cilindric coordinates
    2
    v dr 2 r 2 d 2 dz 2
    In spheric coordinates
    2
    v dr 2 r 2 d 2 r 2 sen 2 d 2

    Kinetic energy: example


    The coordinates of the mass m are

    a cos( t )
    x

    ym l cos

    Therefore its kinetic energy is given by

    xm l sin ,

    1 2 1
    Tm mv m (l cos ) 2 (l sin ) 2
    2
    2
    ml 2 2

    Tm
    2

    Kinetic energy: example


    The kinetic energy for mass 1 is given by
    m
    Tm1 1 (l11 ) 2 ,
    2
    For m2 its coordinates x2 , y2 are given by

    x
    l1

    xm2 l2 sen 1 l2 sen 2 ,

    ym2 l2 cos 1 l2 cos 2

    therefore
    m2
    ( xm2 2 y m2 2 )
    Tm2
    2
    m
    2 l1212 l2 22 2 2l1l212 cos(1 2 )
    2

    m1

    l2
    m2

    Kinetic energy and inertial effects


    (Inertia Moment)
    The kinetic energy in previous slides was due to the mass effects
    If the rigid body has inertial effects, then they will also generate kinetic
    energy, the so called inertia moment
    The kinetic energy of an inertia is function of the angular velocity, and it
    is given by

    TI

    1 2 1 2
    I I
    2
    2

    where:
    I inertia
    angular or rotational velocity
    angular position

    Kinetic energy and inertial effects:


    example
    The kinetic energy due to inertia is given by
    1 2
    T

    I
    I
    x
    2

    a cos( t )
    l

    Therefore the total kinetic energy is


    m

    1
    T Tm TI ml 2 I 2
    2

    Kinetic energy and inertial effects:


    example
    The kinetic energy due to inertia 1 is
    I1 2
    1 ,
    2
    and for inertia 2
    TI1

    x
    l1

    I2 2
    TI 2 2 ,
    2
    therefore the total kinetic energy is given by

    T Tm1 TI1 Tm2 TI 2


    I
    1
    (m1l12 I1 )12 2 2 2
    2
    2
    m
    2 l1212 l2 22 2 2l1l212 cos(1 2 )
    2

    m1

    l2
    m2

    Inertia Moment
    In general the angular velocity has 3 components, i.e.

    31

    : x

    y z

    Therefore the inertia is a tensor or a matrix of 3 3, that is given


    by an integral as function of the density distributiuon, i.e.
    y2 z2

    I ( x, y, z ) xy
    V
    xz

    xy
    z 2 x2
    yz

    xz
    I11

    yz dx dy dz I 21
    I 31
    x 2 y 2

    I12
    I 22
    I 32

    I13
    I 23
    I 33

    Inertia Moment
    The tensor of inertia can be diagonalized along the principal axes,
    thus along the principal axes, the principal moments are
    0
    I xx 0
    I 0 I yy 0
    0
    0 I zz
    such that along the principal axes of rotation
    I11
    I
    21
    I 31

    I12
    I 22
    I 32

    I13 x I xx
    I 23 y 0
    I 33 z 0

    0
    I yy
    0

    0 x
    0 y
    I zz z

    Mass center

    So far the masses have been concentrated at the end of the link

    In general there exist the mass center which is the point in which
    can be considered that all the mass is concentrated, and moreover
    all the particles of the body have cero relative velocity w.r.t. the
    mass center

    When the mass center is considered, then its position coordinates


    must be taken into account to calculate the kinetic energy

    Example
    Mass center coordinates
    xc1 lc1 sin(q1 ), yc1 lc1 cos(q1 )
    Thus its kinetic energy is
    T

    1
    1
    m1lc12 q12 I1q12
    2
    2

    Equations of motion
    Translational motion: (Newton equation)

    d (mv)
    ma
    dt

    Rotational motion: (Euler equation)

    d ( I )

    I I
    dt
    More general: (Lagrange)
    Generalized coordinates + generalized forces
    Using variational principle

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