Thus, the total inertia is

Evaluate the inertia tensor of the rectangular body with uniform density w.r.t frame{A}

Prism 2 (Translation
( ) * ( * (* + +) +)
[ ]

Using volume element dv=dxdydz, we solve for Ixx

Prism 3 (Translation ;

Finally, assemble inertia tensors and add them together

Inertia Tensor relative to frame {A} is expressed in the matrix form [ Mass moments of inertia: Mass products of inertia: ]

Next find the mass products of inertia

__________________________________________________________ LAGRANGIAN FORMULATION: (

)

Similarly,

. Hence the inertia tensor of this rigid

[ ( ]

body relative to frame {A}& sub all value in: is

Where

And all eigenvalues are +ve

Example: Assume a rigid body compared of a 10 kg disc and a 2kg bar. Determine the inertia tensor of the rigid body relative to frame {A} Disc (Prop of inertia) Slender Bar Parallel axis theorem: used to transfer the M.O.I of a rigid body from an axis passing thru its C.O.M G to a parallel axis through some other point Moments of Inertia: ; Product of Inertia:

,
( ) Inertia of the disc: only 1 translation along ( ) ( ) ( ) Inertia of slender bar: translation along ( ( [ ) ) ][ ][ ] [ ] 0 1 [ ] Products of inertia --- ____________________________________________________________________ Example: evaluate the inertia tensor using parallel axis theorem Solution: inertia tensor of the rectangular body w.r.t C.O.M

[
from {G} to frame {A} :

]the translation of inertia tensor

______________________________________________________________________

______________________________________________________________________

Newton-Euler Recursive Formulation:

Revolute Joint: Prismatic Joint: +2 Both Joints: ( ( )

Ques: An end-effector is composed of four elements: one cylinder and three prisms. All the prisms have a square crosssection of side S = 0.02 m. Prisms 2 and 3 are symmetrically [ ] rotated by 15. CoM denotes the position of the centre of mass of each element with respect to reference frame {A}, i.e., Question: Determine the inertia tensor with respect to frame {A} { } Determine the inertia properties of the for the rigid body shown below,composed of a 3 kg semi-cylinder rigid body relative to frame {A} with a 2 cm radius welded to a 5 kg rectangular prism with dimensions 5 1.5 cm. Both elements have a negligible length along (Hint: ITot = ICyl + IPrism 1+ IPrism 2 + IPrism 3) Dimensions Mass C.O.M the direction ZA (along the direction to the plane). Formulas for Object
=[ ];;;;; [ ]

moments of inertia &center of mass position are in Appendix

Cylinder Prism 1 Prism 2 & 3

L=0.20 m R=0.02 m L=0.12 m S=0.04 m L=1.10 m S=0.04 m

1.5 kg 1 kg 0.75 kg
Both Joints: Revolute Joint: Prismatic Joint:

__________________________________________________________

Jacobian:
(i) { } Joint Direction and Derivatives Rev Joint I Pris Joint j 0 1 ( Joint Direction and Cross Products Rev Joint I Pris Joint j 1 (

Solution: First Determine the interia tensors w.r.t their C.O.M.

(ii) { }
[ ] [ ]

0 [ ]

( [ ][ [

( ) ][ ] ]

[ ] Finding (i)

] [ ] [ ] [ ] [

[ ]

] [ [ ] [ ] ]

Joint Direction and Derivatives Rev Joint I Pris Joint j 0 1 ( Joint Direction and Cross Products Rev Joint I Pris Joint j 0 1 (

(i)

1 =[ { } ( ) ( ] )

Describing the inertia tensors of prisms 2 & 3 w.r.t frame that have the orientation of frame {A}. Let {D} & {E} be these frames. [ [ ] ]

[ [

__________________________________________________________
; note that w.r.t to fig in Appendix, axis x & z are

switched. Now using pararllel axis theorem: 0 1 [

Now, all inertia tensors have the orientation of frame {A} . we have to apply parallel axis theorem to all four elements ] Cylinder (Translation ;

With

) 1

Prism 1 (Translation

Ques: Compute the closed-form dynamic eq of the RP planar manipulator shown in the figure below.

Where,

[
[

]
][

]
][ ]

[ 0 1 0 -90 0 0 0 i 1 2

][

][

{ Assume that there is gravity acting on the device ,that is not rotating,i.e. that no external forces & moments Submatrices of the link jacobian are being applied at the tip of E.E.,ie.e (i) Newton Euler Recursive formulation [ ]

{ }
}

*
[

+
]

*
[

+
]

{ }
{ }

( Base is not rotating Effect of gravity No external forces or moments Inertia tensors
[ ]

[ ( )
(

] (
) (

)
)

] ( )

( * { } 2 3 [ [ ]{ } ]{ } { Finally, * + ] * ( ] of stanford manipulator using * ) +, + { ( } , { } ( ) ) +{ } ) 2 3 * + [ ]

(

(
) (

(
) (

)
)

{ } ,

( [ ] *

) + [ ]

{ } [

* + [ } Jacobian:Determine the Jacobian joint direction & derivatives

[ +2
[ ] .2

]{ } ]{ } (
3

{ {

} } ) { }
3 { }/

} { } 2

( { } { } 2 3 )

Homo Transforms:
[ ] [

3
[ ] [ ] [ ]

]{

} [

]{

I=2== 2

=(

) 3
3 2 3

I=1
2

{ 2 3 {

} }

2
Thus equation:

3=Ans )

* +

( [

+, ]

Lagrangian: inertia tensor written w.r.t frame {0}