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Raúl

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Pioneer 3DX Dynamic parameter values - 2010/11/02 18:02 Enquiry sent over email:

Hi...

I am a research student and doing my research in mobile control systems. At the moment, I am doing computer simulations not any experiment. I am searching dynamic paraemter values for Pioneer 3DX robot model. I couldn't find it anywhere. Could you please help me to continue my work. If you have (know) these parameters values, could you please send me....

PIONEER 3-DX
-Robot mass (m)=
-Electric resistance constant (Ra)=
-Torque constant multiplied by the gear ratio(Ka)
-Moment of inertia of the combined motor rotor,gearbox and wheel (Je)=
-Robot moment inertia (Jz)=
-Voltage constant multiplied by the gear ratio (Kb)=
-Viscos friction coefficient of the combined motor rotor,gearbox and wheel (Be)=
-Radius of the tire-
-Wheel radius=
-distance a,b,d

I have been searching these poarameter values for 3 months, but I couldn't find all parameters.
Please help me......I am waiting for your reply.

Thanks

Post edited by: Raúl, at: 2010/11/02 18:03 Raúl Arrabales Moreno. conscious-robots.com/raul

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Raúl

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Posts: 592

Karma: 10

Re:Pioneer 3DX Dynamic parameter values - 2010/11/02 18:14 Hi, this is all I have from the P3DX operations manual. Additional data you might need, you can ask MobileRobots support directly. Do you know the Pioneer-users mail list?

You could also check the mail list archive:

--> Pioneer Users Mailing List.

PIONEER 3-DX:

Physical:

Length (cm): 44.5
Width (cm): 39.3
Height (cm): 23.7
Clearance (cm): 6.0
Clearance bumpers (cm): 3.5
Weight (kg): 9
Payload (kg): 25

Mobility:

Wheels diam (mm): 195.3
Wheels width (mm): 47.4
Caster wheel (mm): 75
Gear ratio: 38.3:1
Swing (cm): 26.7
Turn (cm): 0
Translate speed max (mm/sec): 1,400
Rotate speed max (deg/sec): 300
Traversable step max (mm): 20
Traversable gap max (mm): 89
Traversable slope max (grade): 25%

Encoders (2 ea) counts/rev: 76,600
counts/mm: 128
counts/rotation: 33,500

I don't know about the torque and moment of inertia, but you could try to get some info from the model of motors: GM9236E349-R2. Here you have some additional data:

motor tech sheet

Cheers,
Raúl. Raúl Arrabales Moreno. conscious-robots.com/raul

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