McGill Dept of Mechanical Engineering MECH572A Introduction To robotics Lecture 5
MECH572A Introduction To Robotics Lecture 5 Dept. Of Mechanical Engineering
Midterm exam Date&Time:19:00-21:00Oct25.2004 Open Book Chapters 2&3 of the text book Note: Regular lecture will take place 18: 0018: 45 on Oct 25
Midterm Exam • Date & Time: 19:00 - 21:00 ,Oct 25, 2004 • Open Book • Chapters 2 & 3 of the text book Note: Regular lecture will take place 18:00 –18:45 on Oct 25
Review New concepts Twist ofrigid body t=/w Wrench(static anal ysis W三 Instantaneous Screw of rigid-body motion Define by direction 间+ one point Po Similarity between velocity and Force/Moment Analysis f Screw-like force and moment property: Wrench axis
Review • New concepts Twist of rigid body Wrench (static analysis) • Instantaneous Screw of rigid-body motion – Define by direction + one point • Similarity between Velocity and Force/Moment Analysis – Screw-like force and moment property: Wrench axis
Review Acceleration Anal ysis Fixed reference frame 阝=+(+92)(p-a W≡+ Acceleration tensor Moving reference frame Corilios term in the expression Basics in rigid Body dynamics Mass properties- Mass 1st& 2nd Moment; Parallel Axes Theorem Principle Axes/Moments(Eigenvectors/values) Equation of Motion- Newton-Euler Equations =Icw+wxIcw
Review • Acceleration Analysis – Fixed reference frame: – Moving Reference frame Corilios term in the expression • Basics in Rigid Body Dynamics Mass properties - Mass 1st & 2nd Moment; Parallel Axes Theorem; Principle Axes/Moments (Eigenvectors/values) Equation of Motion – Newton-Euler Equations Acceleration tensor
Robotic kinematics overview Basic Concepts Robot Kinematics- Study robot motion without resorting to force and mass properties. Dealing with position, velocity and acceleration Kinematic Chain-A set of rigid bodies connected by kinematic pairs · Kinematic pairs Upper Pair-Line/point contact(gear, cam-follower) ower Pair-Surface contact (revolute, prismatic
Robotic Kinematics Overview Basic Concepts • Robot Kinematics - Study robot motion without resorting to force and mass properties. Dealing with position, velocity and acceleration • Kinematic Chain - A set of rigid bodies connected by kinematic pairs • Kinematic Pairs • Upper Pair - Line/point contact (gear, cam-follower) • Lower Pair - Surface contact (revolute, prismatic)