Resumen de Derivation of the Mass Matrix for the McGill Schonflies Motion Generator

Giuseppe Carbone, Giuseppe Cannella, Jorge Ángeles

• The aim of this paper is to address the elastodynamics behavior of the McGill Schonflies motion generator (SMG). A SMG is a four-degree-of-freedom parallel robot capable of producing motions proper for what is known as SCARA (selective-compliance assembly robot arm) systems. Elastodynamics refers to the modal analysis of a mechanical system composed of a combination of rigid and elastic bodies. Modal analysis, in turn, pertains to the dynamic response of the system at hand when subjected to �small� disturbances that take the system away from a nominal posture under �small amplitude� displacements. The elastodynamics model involves two main ingredients, the n × n mass and stiffness matrices. The work reported here focuses on the formulation of the 20 × 20 mass matrix of the underlying mechanical system.