Feuerwehr » puma fenty slippers

In thethirdstepthe elements puma fenty slippers of the Coriolis matrix,Qij, 2. Simplification of the kinetic energy matrix elements by and of the centrifugal matrix, ci,, arewritten in terms of the combining inertia constants that multiply common Christoffelsymbols of the first kind [Corbenand Stehle 1950; variable expressions. Likgeois et al. 1976]* giving: 3.Expression of the Coriolis and centrifugal matrix elements b.. -- 2 (4) in terms of partial derivatives of kinetic energy matrix *J elements;

Which symbolically generates the dynamic model of an equations thathold on the puma creepers velvet derivatives of the kinetic energy matrixarticulatedmechanism.EMDEGemploys Kane's dynamic for- elements.The first two equationsaregeneral;the last two aremulation [Kane 19681, and produced a result comparable in form specific to puma creepers black the PUMA 560. The equations are:and size to that of ARM [Murry and Neuman 1984). Three sirn-plifying assumptions were made for this analysis.

So the total Measurement of the Motor and Drive Inertiamotor and drive contribution ateach joint was determined by anidentification method. This contribution is considered separately A parameter identificationmethod was used t o learnthefrom rihanna puma slides the I,, term of the link itself because the motor and drive totalrotationalinertiaateachjoint.Thisinertiaincludes t,heinertia seen through the reduction gear does not contribute to the effective motor and drive inertia and the contribution due .

By subtract-data presented below include armature inertia andgear ratios, so ing the arm contributions, determinedfrom direct measurements,these forces can be determined. from the measured total inertia, the motor and drive inertial puma suede creepers con- The parametersof the wrist linkswere not directly measured. tributions were found.The wrist itself was not disassembled. But the needed parameterswere estimatedusingmeasurements of the wristmass and the Measurement Toleranceexternal dimensions of the individual links.

Of the link, thelocation of the center of gravity, the distancefromthe wire attachment points to the axis of rotation, the length of Table 4. Link Masses (kilograms; kO.01 1%)the wires, andtheperiod of rotationaloscillation. Theinertiaabout eachaxis is measured by configuring the link to swing Link Massabout that axis. Rotational oscillation is started by twisting andreleasing the link. If one is carefulwhenreleasing the link, it Link 2 17.