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Modelado No Lineal De
Un Brazo
IEL-105
IEL-106
II. DESARROLLO
El modelo del subsistema mecnico de brazo
hidrulico se ha creado con SimMechanics una
extensin de Matlab. SimMechanics es una
herramienta eficiente para modelado y simulacin de
sistemas mecnicos en el entorno Matlab/Simulink
[6].
A. Tensor de inercia del robot h(q)
Si el modelo posee cuatro grados de libertad [7]
Paso 1: Matriz de transformacin
[
[[
]]
(1).
(2).
Entonces:
(3).
(4).
IEL-107
Se calculan: In
Paso 5: Tensor Inercial Rotacional de cada
eslabn.
[
(5).
( )
[
[
[
[
]
]
(6).
]
]
]
]
]
]
[
[
[
[
]
]
]
]
[
[
[
[
]
]
]
]
(8).
)
[
[
[
[
]
]
]
]
(7).
(9).
Donde:
IEL-108
C. Modelo en SimMechanics
(10).
Donde:
(11).
IEL-109
p
Sensor_Brazo_Inferior
To Workspace1
CS1
p
Scope1
CS3
CS2
Sensor_Brazo_Superior
Revolute2
CS1
B
CS1
CS2
CS2
F
Body 2
Revolute3
Body 1
Revolute E1
Prismatic1
Joint_Sensor_2
Joint Actuator1
To Workspace10
Constant2
Ref_Cil_2
Joint Sensor1
To Workspace7
Constant3
Scope4
To Workspace8
CS1
Posicion
To Workspace9
Revolute E
B
Scope2
Pos_Cil_2
CS2
Brazo Inferior
Vel_Ref
Ground
CS5
CS3
Vel_Cil_2
Velocidad
CS4
? ? ? Signal 1
Referencia 2
CS1
CS2
CS1
CS2
Body 5
Body 4
Revolute1
Prismatic
Joint_Sensor_1
To Workspace6
Joint Actuator
Constant
Revolute A
Constant1
Joint Sensor
Ref_Cil_1
Vel_Cil_1
Velocidad
To Workspace3
To Workspace4
Ground1
? ? ? Signal 1
Pos_Cil_1
Vel_Ref
Referencia 1
To Workspace5
Scope3
Posicion
t
Clock
Env
To Workspace
Machine
Environment
Area Limits1
PS Gain
Variable Area
Orificio AT
B
Variable Area
Orificio PA
AR
A
AR
B
2 A
AR
A
4 P
Variable Area
Orificio PB
AR
A
Variable Area
Orificio BT
3 B
T
5
Posicion
Velocidad
2
Sensor de Movimiento
Translacional
PS S
Mass1
1
R
Hydraulic Reference
Solver
Configuration
PS S
PS-Simulink
Converter2
1
Velocidad
2
Posicion
Translational Damper1
R
f(x)=0
PS-Simulink
Converter3
C
V
P
Ideal Translational
Motion Sensor
R
Posicion
Simulink-PS
Converter1
PS S
Vel_Ref
Velocidad
IEL-110
Translational Hard
Stop
R
C
Translational Spring1
Mechanical
Translational
Reference1
Fuente de Presion
IEL-111
IEL-112
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
V. REFERENCIAS
[1]
[12]
[13]
IEL-113