Beruflich Dokumente
Kultur Dokumente
Figure 4: OUR Arm Dimension, Joints and Links Figure 3:4: WAM Arm links and joints
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IV. WORKSPACE DESIGN OF SMOKIE ARM B. Transfer function of End Effector wrt Base
A. Denavit-Hartenberg Parameters The transformation matrix from Frame i to Frame i-1 is a
function only of the joint variable 𝑞𝑖 , that is, 𝜃𝑖 for a revolute
The commonly used DH-convention defines four parameters
joint or 𝑑𝑖 for a prismatic joint. The Denavit-Hartenberg
that describe how the reference frame of each link is attached
convention allows constructing the direct kinematics function
to the robot manipulator. Starting with the inertial reference
by composition of the individual coordinate transformations
frame, one additional reference frame is assigned for every link
into one homogeneous transformation matrix. The procedure
of the manipulator. The four parameters 𝑎𝑖 , 𝑑𝑖 , 𝛼𝑖 , 𝜃𝑖 defined for
can be applied to any open kinematic chain and can be easily
each link 𝑖 ∈ [1, 𝑛]transforms reference frame 𝑖 − 1 𝑡𝑜 𝑖 using
rewritten in a programming code. [2]
the four basic transformations.
The resulting coordinate transformation is:
For this purpose we choose the coordinates as follows. The 𝐶𝜃𝑖 −𝑆𝜃𝑖 𝐶𝛼𝑖 𝑆𝜃𝑖 𝑆𝛼𝑖 𝑎𝑖 𝐶𝜃𝑖
algorithm presented in D-H convention is used to assign the 𝑆𝜃 𝐶𝜃𝑖 𝐶𝛼𝑖 −𝐶𝜃𝑖 𝑆𝛼𝑖 𝑎𝑖 𝑆𝜃𝑖
𝑖−1
proper coordinates. 𝐴𝑖 (𝑞𝑖 ) = [ 𝑖 ]
0 −𝑆𝛼𝑖 𝐶𝛼𝑖 𝑑𝑖
0 0 0 1
i 𝒂𝒊 𝒅𝒊 𝜶𝒊 𝜽𝒊
1 0 0 𝜋/2 𝜽𝟏
2 a2= 43 0 0 𝜽𝟐 Figure 7: Side view of Smokie workspace (X-Z)
3 a3= 33.6 0 0 𝜽𝟑
4 0 d4= 11.5 𝜋/2 𝜽𝟒
5 0 d5= 14.5 −𝜋/2 𝜽𝟓
6 0 d6= 11.5 0 𝜽𝟔
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C. Workspace Plots
By using the coordinate transformation matrix and coding
in MATLAB , the workspace of 6 DoF is plotted.
Different views of the workspace is plotted in below figures.
VIII. BIBLIOGRAPHY