![sixaxis pair tool 0.1 sixaxis pair tool 0.1](https://i.ytimg.com/vi/vjNs9yPeCWo/hqdefault.jpg)
This study presents a new six-DOF force/torque sensor and its calibration method. Therefore, the new algorithm can be adopted to accomplish real-time control under the frequency of 500 Hz. (2) The maximum calculating time of the new method is 4.25×10-4 s, which is one-fifth of the control cycle period. (1) The performance of the proposed algorithm is better than the existing one in terms of effectiveness, accuracy, and stability. Finally, an experiment is conducted, the results of which are as follows. Fourth, Newton-Euler dynamic equations are incorporated into the system to determine the relationship between the human-machine interactive force and the feedback of the sensors. Third, the equation between the driven torque and the feedback of the sensor is derived based on the previous work. Second, a dynamic analysis is performed on the sensor group, and the relationship between the forces at the spherical joint and the feedback of the sensor assembled in the joint space is established. First, force analysis is conducted on each leg of the HN-EXO, and the Newton-Euler method is adopted to establish the relationship between the driven torques and the forces at the spherical joint. Finally, the proposed approach is verified by a numerical example and then the energy consumption is calculated.Ī new method based on the dynamic model of the head-neck exoskeleton (HN-EXO) is presented for calculating the external forces/torque imposed on the platform. The results of input velocities and driving forces of actuators are distinctive due to the eccentric angle and selection of the initial position. Because the trajectory model of the mantle is difficult to be established by using analytical method, it can be obtained by an eccentric simulation. For the crushing case, crushing pressure is related to the compression ratio and particle size distribution, but the selection and breakage functions should be established first. Lagrange equation which takes into account the weight of the mantle and actuators is used to solve driving forces of actuators. Analytical geometry is mainly used to solve the inverse kinematics and then establish the velocity relationship between generalized coordinates and actuators. For the no-load case, the kinematic and dynamic equations are established by using analytical geometry and Lagrange equation.
![sixaxis pair tool 0.1 sixaxis pair tool 0.1](http://2.bp.blogspot.com/-1yCCLSUKzsw/UMH8xQ9HWiI/AAAAAAAABAg/uS4Wlw9IIEo/s1600/sixaxis+ubuntu.png)
Kinematics and dynamics are derived from the no-load and crushing parts in order to clearly describe the whole crushing process. This paper proposes a novel 6-DOF robotic crusher that combines the performance characteristics of the cone crusher and parallel robot, such as interparticle breakage and high flexibility.