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Fall 2016
Force/Torque Relations
(Statics): Part I
Dr. J. Huang
11/2/16
Reference: Robotics: Basic Analysis and Design, William A.
Wolovich, Oxford University Press, 1995
The relation of
force/torque is expressed
in the cross product format
r F
Magnitude is given by
r F sin
http://hyperphysics.phy-astr.gsu.edu/hbase/torq.html
An object at equilibrium
has no net influences to
cause it to move, either in
translation (linear
displacement) or rotation.
Conditions for equilibrium
Net Force = 0
Net Torque = 0
m
mkx
qx
k
k
k
k
k
k
m
m
Mq
Rq ky Dq Rq F k Rq M k Dq Rq F k
qy
m
kz
mqz
f
f
qx
kx
k
k
& F q f qy Rq f ky Rq F k
f
f
kz
qz
k
k
k
R
F
D
M k Rk q q q k Rk M q Rk q Fq
q
Since
F R F R F R F
k 1
q
and
k T
q
Rk Dqk Fq Rk Dq Rk F q
q
Rk M q Dk Rk F q
q
and
F t F 4 f
f
f
tx
f
ty
f
tz
1
4x
2
4y
0
4z
mtx m4 x 0
M t M 4 mty m4 y 0
m m 4
tz 4 z
0 1 0 1 2 f 3 x
4
1 0 0 2 1
F 3 R3 F 4
f 3 y
0 0 1 0 0
f 3z
M 3 R3 M 4 D3 R3 F 4
0 0 1 4 0 0
0 0 0 m3 x
0 0 0 m3 y
4 1 3 m3 z
0 1 0 2 1 f
3
F 2 R2 F 3 0 0 1 1 0 f
1 0 0 0 2
f
2x
2y
2z
0 1 0 0 0 m2 x
3
0 0 1 0 3
M 2 R2 M 3
m2 y
1 0 0 3 0 m2 z
1 f 1x
2
F 1 R1 F 2 2 f 1 y
0
f 1z
0 m1x
2
2
2
0
M 1 R1 M 2 D1 R1 F 2 m1 y
0 m1z
F t f
f
ty
tz
tx
and
mtx
M t mty
m
tz
Virtual displacement
p x
p
y
p
X z
x
y
z
xt
f ty
f yt
t
t
0
F Rt0 F t R0 0 t f tz = f zt
R0 mtx mxt
R0 M t
mty
m yt
Base frame
Tool frame mtz
mzt
Virtual work done in equilibrium
The virtual work done by the generalized force F is
equalized by the work done by a generalized link torque
W F X T 0
F X F T X T T T
X J
X J
or
F J T
T
T JTF
Relates force/torque from
task space with joint space.
F X
f
f
f
p x
xt
p y
yt
zt
f 2 h T
3
1
m1z 1 ds hc fc
T f f
s
2z
2
fc
m3 z 3
dc hs fs
c
fs
1 f xt
0 f J T F
yt
1 m
zt
f 2 0 1 0 f yt
1 0 1
3
mzt
Since
f xt f tx 1
f f 2
yt ty
mzt mtz 4
in this case
1 2 1 1 1 0
2 2
0
1
0
f 2
1 0 1 4 3
3
As illustrated earlier
T JTF
1 s1 ec2 fc 23 c1 ec2 fc 23
0
T 2 c1 es 2 fs 23 s1 es 2 fs 23 ec2 fc 23
fc1s23
fs1s23
fc 23
3
0
s1
0
c1
s1
c1
f
xt
f
1 yt
0 f zt J T F
0 mxt
m yt
mzt
f
xt
f
0 0 0 0 1 yt
3 4 1 0 0 f zt
m
0 4 1 0 0 xt
m yt
m
zt
mzt 4 f xt
4
f
3
f
zt
yt
2
xt
mxt 4 f zt