Question

in a dynamic analysis of robot the moment of inertia is used? ​

Answer 1

Answer:

In previous chapters, we studied the kinematic position and differential motions of

robots. In this chapter, we will look at the dynamics of robots as it relates to acceler-

ations, loads, and masses and inertias. We will also study the static force relation-

ships of robots.

As you remember from your dynamics course, to be able to accelerate a mass,

we need to exert a force on it. Similarly, to cause an angular acceleration in a rotat-

ing body, a torque must be exerted on it (Figure 4.1), as in

and 2: T = I· a. (4.1)

To be able to accelerate a robot's links, it is necessary to have actuators that

are capable of exerting large enough forces and torques on the links and joints to

move them at a desired acceleration and. velocity. Otherwise, tbe link may not be

moving fast enough, and thus the robot will lose its positional accuracy. To be able

to calculate how strong each actuator must be, it is necessary to determine the dy-

namic relationships that govern the motions of the robot. These equations are the

force-mass-acceleration and the torque-inertia-angular acceleration relation-

ships. Based on these equations and considering the external loads on the robot, the

designer can calculate the largest loads to which the actuators may be subjected and

thereby design the actuators to be able to deliver the necessary forces and torques.

In general, the dynamic equations may be used to find the equations of motion

of mechanisms. This means that knowing the forces and torques, one can figure out

how a mechanism will move. However, in our case, we have already found the equa-

tions of motions; besides, it is practically impossible to solve the dynamic equations