puma mens shoes

Prudence Titus · Geregistreerd op: 16 Jul 2020 Berichten: 3

The first step was carried out puma australia with a LISP program, named by the PUMA model can be reduced from 126 to 39 with fourEMDEG, which symbolically generates the dynamic model of an equations thathold on the 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 the PUMA 560. The equations are:and size to that of ARM [Murry and Neuman 1984).

The mass of each component was r is theinertiaabouthe axis of rotation;determined with a beam balance; the cenotfergravity was located is the weight of the link;by balancing each link on a knife edge, once orthogonal to each puma shoes w is thdeistance fromeacshuspensionaxis; and the diagonal terms of the inertia dyadic were measured wire to the axis of rotation;with a two wire suspension. 1 is the oscillatiofnrequency in radians per second;The motor and drive mechanism at each joint puma suede contributes to is thelength of thesupporting wires.the inertia about that joint an amount equal to the inertia of therotating pieces magnified by the gear ratio squared.

Themotors were mass of thearm. To makethismeasurementourcontrolsys-left installed in linkstwo and three when the inertia of these links tem was configured to command a motor torque proportional towere measured, so the effect of their mass as the supporting links displacement, effecting a torsional spring. By measuring the pe-move is correctly considered. puma womens shoes The gyroscopic forces imparted by riod of oscillation of the resultant mass-spring system, the totalthe rotating motor armatures is neglected in the model, but the rotational inertia about each joint was determined. 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 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. To obtain the inertialterms, the wrist links were modeled as thin shells. A tolerance for each direct measurement was established as the measurement was taken.

If one is carefulwhenreleasing the link, it Link 2 17.40is possible puma mens shoes to start fundamentalmodeoscillationwithout visi- Link 3 4.80blyexcitingany of the other modes. The relationshipbetween Link 4* 0.82measured properties and rotational inertia is: Link 5* 0.34 Link 6* 0.09 * This method was suggested by Prof. David Powell. Link 3 wiCthomplete LVrist 6.04 Detached Wrist 2.24 * Values derived from external dimensions; f 2 5 % . The positions of the centers of gravity are reported in Table 5. The dimensions rz! ry and rz refer to the x, y and z coordinates 513of the center of gravity in the coordinate frame [img]http://www.simplypotterheads.com/images/lose/puma mens shoes-967raz.jpg[/img] attached t o the Table 5 . Centers of Gravity.