Hi,
I was just wandering if anyone knows where I can get the following data for irb 120:
Mass properties of links 1 - 6, i.e.
Masses,
moments of inertia; Ixx, Iyy, Izz and
positions of the centres of mass
Friction & stiffness properties of joints 1 - 6, i.e.
Overall joint stiffnesses (Nm/deg or Nm/rad),
As well as the information shown in the image attached (parameters.jpg).
I couldn't find these in any data sheets or product manuals so if anyone has them maybe from experiments (I will reference if required) or knows how to get them I would be grateful. I can estimate using CAD models but this will only be based on geometry and material but there are other components inside the links so that isn't very accurate.
Thanks,
Joe.