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  • Eslabó n Li αi di ϴi 1 l1 0 q1 2 l2 0 q2: total

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    Sergio Andres Mora
    14 views4 pages
    The document describes the modeling and analysis of a 2 degree of freedom robotic manipulator. It includes the derivation of forward kinematics, Jacobian, equations of motion, and transfer functions for the system. Simulation results are presented comparing the performance of a prototype board vs a PCB implementation in terms of total gain, bandwidth, power supply rejection ratio, and common mode rejection ratio.

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    Eslabón EC_003.docx

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    The document describes the modeling and analysis of a 2 degree of freedom robotic manipulator. It includes the derivation of forward kinematics, Jacobian, equations of motion, and transfer functions for the system. Simulation results are presented comparing the performance of a prototype board vs a PCB implementation in terms of total gain, bandwidth, power supply rejection ratio, and common mode rejection ratio.

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    © All Rights Reserved
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    14 views4 pages

    Eslabó n Li αi di ϴi 1 l1 0 q1 2 l2 0 q2: total

    Uploaded by

    Sergio Andres Mora
    The document describes the modeling and analysis of a 2 degree of freedom robotic manipulator. It includes the derivation of forward kinematics, Jacobian, equations of motion, and transfer functions for the system. Simulation results are presented comparing the performance of a prototype board vs a PCB implementation in terms of total gain, bandwidth, power supply rejection ratio, and common mode rejection ratio.

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    © All Rights Reserved
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    of 4

    Eslabó Li αi di ϴi

    n
    1 l1 0 β1 q1
    2 l2 0 β2 q2

    cos(q 1) −sen (q 1) 0 l1 cos ⁡(q 1)


    H1=
    (
    sen(q 1) cos ⁡(q 1)
    0
    0
    0
    0
    0 l 1 sen( q 1)
    1
    0
    β1
    1
    )
    cos(q 2) −sen (q 2) 0 l2 cos ⁡(q 2)
    H2=
    (
    sen(q 2) cos ⁡(q 2)
    0
    0
    0
    0
    0 l 2 sen( q 2)
    1
    0
    β2
    1
    )
    cos(q 1+ q 2) −sen (q 1+q 2) 0 l 1cos ( q 1 )+ l2 cos ⁡(q 1+q 2)
    Htotal =
    (sen(q 1+ q 2) cos ⁡(q 1+ q 2)
    0
    0
    0
    0
    1
    0
    β 1+ β 2
    1
    )
    0 l 1 sen ( q 1 ) +l 2 sen(q 1+q 2)

    x0 l1 cos ( q 1 )+l 2 cos ⁡( q 1+q 2)

    [] [
    y 0 =f ( q ) = l 1 sen ( q 1 ) +l 2 sen( q 1+ q 2)
    z0 β 1+ β 2 ]
    0 1 0 0 cos( q 1) −sen (q 1) 0 l1 cos ⁡(q 1)
    H1=
    (
    −1
    0
    0
    0
    0
    0
    0
    1
    0
    0
    1
    )(
    0 sen( q 1) cos ⁡(q 1)
    0
    0
    0
    0
    0 l 1 sen(q 1)
    1
    0
    β1
    1
    )
    sen(q 1) cos (q 1) 0 l 1 sen(q 1)
    H1=
    (
    −cos (q 1) sen ⁡(q 1)
    0
    0
    0
    0
    0 −l1 cos(q 1)
    1
    0
    β1
    1
    )
    0 1 0 0 cos( q 2) −sen (q 2) 0 l2 cos ⁡(q 2)
    H2=
    (
    −1
    0
    0
    0
    0
    0
    0
    1
    0
    0
    1
    )(
    0 sen( q 2) cos ⁡(q 2)
    0
    0
    0
    0
    0 l 2 sen( q 2)
    1
    0
    β2
    1
    )
    sen(q 2) cos (q 2) 0 l1 sen (q 2)
    H2=
    (
    −cos (q 2) sen ⁡(q 2)
    0
    0
    0
    0
    0 −l1 cos (q 2)
    1
    0
    β2
    1
    )
    sen(q 1+ q 2) cos(q 1+q 2) 0 l 1 sen+l 2 sen ⁡(q 1+q 2)
    Htotal =
    (−cos(q 1+ q 2) sen (q 1+q 2)
    0
    0
    0
    0
    1
    0
    β 1+ β 2
    1
    )
    0 −l1 cos ( q 1 )−l2 cos (q 1+q 2)

    x0 l1 sen ( q 1 ) +l2 sen ⁡(q 1+ q 2)

    [ ][
    y0
    z0
    = −l1 cos ( q 1 ) −l2 cos(q 1+q 2)
    β 1+ β 2 ]
    ∂ f (β 1 , β 2 , l1 , l2 , q)
    J ( q) =
    ∂q

    −l 1 sen ( q 1 )−l 2 sen (q 1+q 2) −l 2 sen(q 1+q 2)


    J ( q) =
    [ l1 cos ( q 1 )+l 2 cos ⁡(q 1+q 2) l2 cos ⁡(q 1+q 2) ]
    J ( q ) =l1 l2 sen(q 2)
    M ( q )= 2.41 cos ⁡( q 2) 0.18 cos ⁡(q 2)
    [
    0.18 cos ⁡(q 2) 0.102 ]
    C ( q )= −0.17 cos ⁡(q 2) 0. 08 sen (q 2)
    [
    0. 08 sen ⁡(q 2) 0 ]

    3.92 s en ⁡(q 1)
    [
    g ( q) =
    0.18 cos ⁡(q 1+q 2) ]

    PSRR=20∗log ( V 2−V 1
    v ios )
    =87,75 dB

    PSRR=20∗log ( V 2−V 1
    v ios )
    =59,50 dB

    CM RR=20∗log ( Vdiff
    vs )
    =53 , 23 dB

    CMRR=20∗log ( Vdiff
    vs )
    =61, 23 dB

    1.86
    Δtotal = =53.14 V /V
    0.035

    1.77
    Δtotal = =5 2.05 V /V
    0.03 4

    Tipo de Ganancia Manejo Manejo PSRR CMRR


    medida Total Superior Inferior
    Protoboar 53.14 1.089 0.1067 87,75 dB 53,23 dB
    d
    PCB 52.05 1.409 0.0516 59,50 dB 61.23 dB

    Modeling Analysis and Simulation of 2-DOF

    Robotic Manipulator[ CITATION Sam16 \l 9226 ]

    [ CITATION Cor18 \l 9226 ]

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