mass & friction/stiffness properties of irb 120

photon

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.

culletom

Hi Joe,<div><br></div><div>Just wondering if you ever found an answer to this question?</div><div><br></div><div>Thanks,</div><div>Mark </div>