Which symbolically generates the dynamic model of an equations puma fenty slippers 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). Three sirn-plifying assumptions were made for this analysis.

The kinetic energy ma- The reduction of Equation (7) arises from the symmetry oftrix elements are simplified by combining inertia constants that the kineticenergymatrix.Equation (8) obtains because the ki-multiply common variable expressions. This is the greatest source netic energy imparted puma creepers velvet by the velocity of a joint is independent ofof computational efficiency. Looking to the dynamic model of a 3 theconfiguration of thepriorjoints.Equation (9) resultsfromdof manipulator presented in [Murry and Neuman 19841.

Of gravity and the puma creepers black terms of the inertia dyadic.Thewrist,link where I I = M-wg2 ** r12three and link two of a PUMA 560 arm were detached in order Mgto measure these parameters. 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 w is rihanna puma slides 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 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. The drivesand reduction gears were not removed from the links.

The tolerance values assigned to calculated parameters were de-With this arrangement a rotational pendulum is created about termined by RMS combination of the tolerance assigned to eachanaxisparallel toand halfwaybetween the suspension puma suede creepers wires.The link's center of gravity must lie on this axis.The inertiasuspension method of measuring the rotational inertia requires dyadic and center of gravity parameters of link 3 were measuredknowledge of parameters that are easily measured.

Of the link, thelocation of the center of gravity, the distancefromthe wire attachment points to the axis of rotation, the length of Table 4. Link Masses (kilograms; kO.01 1%)the wires, andtheperiod of rotationaloscillation. Theinertiaabout eachaxis is measured by configuring the link to swing Link Massabout that axis. Rotational oscillation is started by twisting andreleasing the link. If one is carefulwhenreleasing the link, it Link 2 17.