MECHATRONICS,ROBOTS AND DECK MACHINES

L3 3
Y3

L2
Y2 2 X2

X3

L1
1 Z1 Z0

X0

X1

Ans : 1 D-H table and joint position as a function of cylinder length

i 1 2 3 4

i 0 90 0 0

ai-1 0 0 L2 L3

di L1 0 0 0

i 1 2 3 0

Denavita Hartenberga (D-H) tabele

System and Product Design

MECHATRONICS,ROBOTS AND DECK MACHINES

Using the link parameter shown in figure individual Transformations for each link is

=[

];

=[

];

=[

];

=[

];

Then the link Transformation can be multiply together to find the single transformation that relate all frame like...

Tw=

Tw= [ ) ) )

][

( ( 0 Tw=[ (

Joint position as function of cylinder length For cylinder 1 = = tg1 = tg1 = + + 1 = arctg 1 = arctg

For cylinder 2 = = tg2 = tg2 = + + 2 = arctg 2 = arctg

2

System and Product Design

MECHATRONICS,ROBOTS AND DECK MACHINES

S1 = =
1

S2 = =
2

= arc cos =
1+1+1-

= arc cos =
2+2+2-

900

900

System and Product Design