>>>>direct motion<<<<

Table of variables for first joint between base and link 1 in (KelvinVoigt contact force model) with curve end effector motion

Case
s

Case
1
Case
2
Case
3
Case
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10
Case
11
Case
12

Cleara
nce
(mm)
0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.005

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

0.0100

1.8673

0.0201

10.2512

0.0293

10.5070

0.0397

4.0249

0.0488

13.5041

0.0586

13.6897

0.0679

15.3048

0.0769

18.3477

0.0872

85.0417

0.0969

73.1055

0.0050

1.6289

7625.662
0
264213.1
188
119803.1
624
37234.68
48
110079.6
656
69062.25
72
46852.26
95
31963.56
72
123548.4
977
90686.80
65
8000.179
4

Angul
ar
Veloc
ity
(deg/
s)
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00

Angular
Accelera
tion
(deg/s2)

Contact
Force
(N)

0.0000

0.0000

0.0000

14801.01
00
50547.00
00
41719.05
00
48533.23
00
34006.96
00
30293.43
00
39797.89
00
23571.44
00
16642.25
00
4562.661
0
12697.20
00

0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000

Table of variables for first joint between base and link 1 in (Hertz
contact force model) with curve end effector motion

Case
s

Cleara
nce
(mm)

Case

0.00

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

Angul
ar
Veloc
ity
(deg/
s)
90.00

Angular
Accelera
tion
(deg/s2)

Contact
Force
(N)

0.0000

0.0000

>>>>direct motion<<<<
1
Case
2
Case
3
Case
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10
Case
11
Case
12

0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.005

0.0102

3.5992

0.0203

5.0332

0.0302

7.0911

0.0382

17.7893

0.0465

18.4225

0.0569

20.3503

0.0650

19.4900

0.0728

20.8761

0.0823

22.7731

0.0867

20.6685

0.0066

6.0813

36596.24
98
43876.16
19
30710.51
88
35389.17
60
20415.90
62
46605.59
43
47837.70
26
49734.82
85
54819.76
22
24135.09
87
34004.67
93

00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00
90.00
00

0.0001
0.0000
0.0000
0.0000
0.0001
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000

42194.87
00
36674.92
00
18735.52
00
29069.29
00
18566.33
00
120.0031
30784.75
00
29527.78
00
25988.09
00
22315.92
00
12827.67
00

Table of variables for first joint between base and link 1 in (KelvinVoigt contact force model) with horizontal end effector motion

Case
s

Case
1
Case
2
Case
3
Case

Cleara
nce
(mm)

0.00
0.01
0.02
0.03

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

0.0100

0.9584

0.0199

3.2634

0.0298

6.3201

8973.048
6
50837.81
72
23675.09

Angul
ar
Veloc
ity
(deg/
s)
84.00
00
84.00
00
84.00
00
84.00

Angular
Accelera
tion
(deg /s2)

Contact
Force
(N)

0.0000

0.0000

0.0000

6223.095
0
39088.57
00
9902.671

0.0000
0.0000

>>>>direct motion<<<<
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10
Case
11
Case
12

0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.005

0.0396

8.6749

0.0499

8.0679

0.0594

8.5065

0.0680

13.2769

0.0793

69.7816

0.0878

74.4034

0.0983

72.2112

0.0050

0.6915

81
25427.29
98
33927.83
70
29590.86
70
37526.70
13
124515.9
083
121201.4
664
127823.0
558
831.6972

00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00

0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000

0
13824.82
00
37451.46
00
31781.21
00
20887.99
00
29513.26
00
15208.41
00
26464.07
00
552.5601

Table of variables for first joint between base and link 1 in (Hertz
contact force model) with horizontal end effector motion

Case
s

Case
1
Case
2
Case
3
Case
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10

Cleara
nce
(mm)

0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

0.0105

4.8851

0.0203

7.1763

0.0299

8.2936

0.0389

8.9612

0.0483

9.1468

0.0574

9.3467

0.0671

10.1937

0.0769

9.1344

0.0861

9.6163

20121.02
70
14878.61
04
11090.90
46
12483.36
17
13849.70
21
15673.67
00
16327.60
05
16806.03
48
9633.436
3

Angul
ar
Veloc
ity
(deg/
s)
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00

Angular
Accelera
tion
(deg /s2)

Contac
t Force
(N)

0.0000

0.0000

0.0000

8297.87
80
2594.84
70
1049.84
80
2444.69
50
4907.62
60
8827.63
60
8604.12
40
6968.47
80
3340.62
90

0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0003
0.0000

>>>>direct motion<<<<
Case
11
Case
12

0.10
0.005

0.0966

10.1954

0.0055

3.3151

9213.982
4
14639.11
88

84.00
00
84.00
00

0.0000
0.0000

2037.79
00
4198.79
80

Table of variables for first joint between base and link 1 in (KelvinVoigt contact force model) with inclined end effector motion

Case
s

Case
1
Case
2
Case
3
Case
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10
Case
11
Case
12

Cleara
nce
(mm)

0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.005

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

0.0100

1.1787

529.6950

0.0200

1.6011

0.0300

2.7661

0.0399

3.8833

0.0500

9.1844

0.0600

12.4850

0.0696

15.1033

0.0795

14.6335

0.0898

13.6593

0.0997

18.7179

0.0050

1.1840

4439.661
4
2188.914
2
15442.19
06
37203.80
01
24690.65
48
122296.8
590
20865.96
30
14833.21
10
16213.70
52
339.0362

Angul
ar
Veloci
ty
(deg /
s)
102.18
98
102.32
31
102.47
07
102.65
00
102.85
06
102.94
20
102.61
21
103.69
76
103.53
99
103.04
14
103.61
74
102.46
86

Angular
Accelera
tion
(deg /s2)

Contact
Force
(N)

199.7379

0.0000

359.0144

3387.991
0
4467.682
0
2509.510
0
7714.639
0
34055.10
00
15052.54
00
26800.76
00
16243.30
00
27967.99
00
30101.61
00
2020.569
0

472.1437
524.6058
2289.964
0
2451.422
0
3322.767
0
17587.62
79
3240.379
1
3229.453
3
3109.658
2
296.3227

>>>>direct motion<<<<
Table of variables for first joint between base and link 1 in (Hertz
contact force model) with inclined end effector motion

Case
s

Case
1
Case
2
Case
3
Case
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10
Case
11
Case
12

Cleara
nce
(mm)

0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.005

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

0.0109

7.2974

0.0208

11.3474

0.0314

9.1770

0.0404

16.0969

0.0502

17.3138

0.0604

21.1036

0.0701

21.6081

0.0786

24.5832

0.0879

25.5966

0.0987

27.0370

0.0063

5.0165

24882.22
55
31659.13
05
16991.08
43
39608.31
93
24758.84
28
32565.01
32
20686.15
10
27502.95
37
25455.78
28
23103.15
63
33539.62
10

Angul
ar
Veloci
ty
(deg /
s)
102.18
98
101.97
33
103.30
29
102.56
58
104.45
50
104.22
83
104.59
11
104.17
22
104.72
12
102.79
94
103.14
73
102.58
65

Angular
Accelera
tion
(deg /s2)

Contact
Force
(N)

199.7379

0.0000

2379.005
2
3781.732
6
2006.139
7
5550.280
9
3868.728
0
4800.085
8
3090.728
3
3862.950
1
3673.021
3
3026.781
5
2618.767
7

5987.286
0
10440.51
00
12094.66
00
14613.52
00
21425.33
00
21534.25
00
20596.00
00
21982.23
00
22999.94
00
18835.60
00
11512.29
00

Table of variables for first joint between base and link 1 in (KelvinVoigt contact force model) with vertical end effector motion

>>>>direct motion<<<<
Case
s

Case
1
Case
2
Case
3
Case
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10
Case
11
Case
12

Cleara
nce
(mm)

0.00
0.01
0.02
0.03
0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.005

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

0.0100

1.4408

0.0200

4.3786

0.0299

34.8731

0.0398

8.6973

0.0496

9.4702

0.0596

13.3805

0.0696

12.8897

0.0788

17.5671

0.0884

19.3367

0.0985

20.1300

0.0050

6.8172

16741.71
31
93245.65
18
64493.87
53
17394.20
11
21613.61
49
39108.85
06
33218.76
09
50915.67
83
42885.88
64
33576.93
67
9024.782
6

Angul
ar
Veloc
ity
(deg /
s)
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00

Angular
Accelera
tion
(deg /s2)

Contact
Force
(N)

0.0000

0.0000

0.0000

23311.32
00
50472.88
00
40518.80
00
10421.78
00
21064.32
00
20732.90
00
13735.25
00
19170.69
00
17687.30
00
10758.58
00
601.5422

0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000

Table of variables for first joint between base and link 1 in (Hertz
contact force model) with vertical end effector motion

Case
s

Case
1
Case
2
Case
3
Case

Cleara
nce
(mm)

0.00
0.01
0.02
0.03

Translatio
nal
Displace
ment
(mm)

Translati
onal
Velocity
(mm/s)

Translati
onal
Accelerat
ion
(mm/s2)

0.0000

0.0000

0.0000

0.0110

5.0376

0.0202

7.2955

0.0298

9.5532

13252.31
58
14924.23
35
11622.80

Angul
ar
Veloc
ity
(deg /
s)
84.00
00
84.00
00
84.00
00
84.00

Angular
Accelera
tion
(deg /s2)

Contac
t Force
(N)

0.0000

0.0000

0.0000

6600.76
20
2302.87
00
1225.17

0.0000
0.0000

>>>>direct motion<<<<
4
Case
5
Case
6
Case
7
Case
8
Case
9
Case
10
Case
11
Case
12

0.04
0.05
0.06
0.07
0.08
0.09
0.10
0.005

0.0395

10.2368

0.0485

9.6973

0.0573

12.0679

0.0678

9.8365

0.0767

12.2330

0.0858

10.9311

0.0959

11.0070

0.0062

3.6874

49
12530.26
17
13104.27
57
13947.14
77
16030.71
59
17173.13
21
11956.36
80
10117.89
01
13659.43
89

00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00
84.00
00

0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000

80
2471.83
00
4846.69
60
6560.98
20
8435.35
10
6912.61
50
3209.28
00
2022.88
00
4233.58
30