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The symbols [ q q ] and puma creeper [q"] are notation for the n(-l)/Z-vector of Creating Z1 through 1 4 , which are constants of the mecha- nism, leads to a reduction from 35 to 3 multiplications and from[aq]velocity products and the n-vectorof squared velocities. and 18 to 3 additions. Computing the constant Z1 involves 18 calcu- lations. Since the simple parameters required for the calculation[ q 2 ] are given by: of 11 are the input to the RNE.

Which symbolically generates the dynamic model of an equations thathold on rihanna fenty puma 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 rihanna puma shoes 560. The equations are:and size to that of ARM [Murry and Neuman 1984). Three sirn-plifying assumptions were made for this analysis.

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 puma by rihanna creeper 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.

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.ThetolerancevaluesarederivedMeasurement of Rotational Inertia from the precision or smallestgraduation of the measuring in- strument used, or from the repeatability of the measurement it- fenty puma creepers The two wire suspension shown in Figure1 was used to mea- self. Thetolerancesarereportedwhere the data are presented.

40is possible 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 513