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Robotic Robot Pumma

The document provides the steps to determine the forward kinematic matrix of the arm of a PUMA robot. It includes: 1) Calculating the degrees of freedom of the arm as 6. 2) Assigning coordinate systems to each link of the arm. 3) Providing the Denavit-Hartenberg parameters for the PUMA 560 robot. 4) Deriving the transformation matrix between each link through multiple transformations to determine the forward kinematic matrix of the arm.

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37 views5 pages

Robotic Robot Pumma

The document provides the steps to determine the forward kinematic matrix of the arm of a PUMA robot. It includes: 1) Calculating the degrees of freedom of the arm as 6. 2) Assigning coordinate systems to each link of the arm. 3) Providing the Denavit-Hartenberg parameters for the PUMA 560 robot. 4) Deriving the transformation matrix between each link through multiple transformations to determine the forward kinematic matrix of the arm.

Uploaded by

Diegorane
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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ESCUELA POLITCNICA NACIONAL

FACULTAD DE INGENIERA MECNICA


ROBTICA
Nombre: Diego Morn
Encontrar la matriz del brazo del robot PUMA

1. Grados de libertad
GDL= 6(n-1) -5J1-4J2-3J3-2J4-J5
GDL= 6(7-1) -5*6
GDL= 6
3 grados de libertad en el brazo y 3 en la mueca
2. Asignar los sistemas de coodenadas

Fecha: 02 /12/2014

3. Tabla de parmetros D-H (Modelo PUMA 560)

1
2
3
4
5
6

1
2
3
4
5
6

Tabla de parmetros D-H


a
0
a2
a3
0
0
a6

4. Determinacin de la matriz del brazo

[
[
[

C 1 0 S 1 0
S 1 0 S 1 0
A 1=
0 1 0 d 1
0 0
0 0

C2
S2
1
A 2=
0
0

S 2 0 a 2 C 2
C2 0 a2S 2
0
1 0
0
0 1

C3 0 S3 a3C3
S3 0 S3 a3C3
2
A3 =
0 1
0 d1
0 0
0 0

d
d1
0
d3
0
0
0

90
0
-90
90
90
0

[
[
[

]
]

C 4 0 S 4 0
S 4 0 S 4 0
3
A 4=
0 1
0 0
0 0
0 0
C 5 0 S 5 0
S 5 0 S 5 0
4
A5 =
0 1
0 0
0 0
0 0

C6
S6
A6 =
0
0

S 6 0 a 6 C 6
C6 0 a6 S6
0
1 0
0
0 1

][

C 1 0 S 1 0 C 2
S 1 0 S 1 0 S 2
H=
0 1 0 d 1
0
0 0
0 0
0

C 4 0 S 4 0
S 4 0 S 4 0
0 1
0 0
0 0
0 1

][

S 2 0 a 2 C 2
C 2 0 a2 S 2
0
1 0
0
0 1

][

C 5 0 S 5 0 C 6
S 5 0 S 5 0 S 6
0 1
0 0
0
0 0
0 1
0

C 1C 2 C 1 S 2
S 1 C 2 0S 1 S 2
H=
S 21 C 21
0
0

S 1 a 2C 1C 2
S 1 a 2 S 1 C 2
0 d 1+ a 2 S 21
0
1

][

][

C3 0 S3 a3C3
S3 0 S3 a3 S3
0 1
0 d1
0 0
0 1

S 6 0 a 6 C 6
C6 0 a6 S6
0
1 0
0
0 1

C3 0 S 3 a3C3
S 3 0 S 3 a3 S 3
0 1
0 d1
0 0
0 1

C 4C5
S 4C5
S 5
0

][

S 4 C 4 S 5 0 C 6 S 6 0 a 6C 6
S 4 S 4 S 5 0 S 6 C 6 0 a 6 S 6
0
S5 0
0 0
1 0
0
0 1
0 0
0 1

C 1 S 2 S 3+CIC 2 C 3 S 1 C 1 S 2 S 3+C 1C 2 S 3 a2 C 1 C 2a3 C 1 C 2 S 3+a 3 C 1C 2C 3


S 1 S 2 S 3+S 1 C 2 C 3 S 1 S 1 S 2 S 3+ S 1 C 2 S 3 a 2 S 1C 2a 3 S 1 S 2 S 3+ a3 S 1 C 2C 3
H=
C 2 S 3S 2 C 3 0
C 2 S 3S 2 S 3 d 1a 2 S 2a 3 C 2 S 3a 3 S 2C 3
0
0
0
1

C 4 C 5C 6+C 4 C 6 C 4 C 5 S 6+ S 4 C 6 C 4 S 5 a 6(C 4 C 5 C 6+ S 4 S 6)
S 4 C 5 C 6+ S 4 S 6 S 4 C 5 S 6+ S 4 C 6 S 4 S 5 a 6(S 4 C 5 C 6+ S 4 S 6)
S 5 C 6 S 5 S 6
S 5 a 6 S 5 C 6
0
0
0
1

C 1 S 5 C 6 ( S 3 C 2S 2 S 3 )+ S 1 ( S 4 C 5 C 6 +S 4 S 6 ) +(C 4 C 5 C 6+ S 4 S 6)(C 1)(C 2 C 3S 2 S 3)


S 5 C 6 ( S 1C 2 S 3S 1 S 2 S 3 )S 1 ( S 4 C 5 C 6+ S 4 S 6 ) +(C 4 C 5 C 6+S 4 S 6)( S 1C 2C 3S 1 S 2 S 3)
H=
S 5 C 6 ( C 2 S 3+ S 2 S 3 ) ( C 4 C 5C 6+ S 4 S 6 )( C 2 C 3S 2 S 3 )
0
C 1 S 5 S 6 ( C 2 S 3S 2 S 3 )S 1 ( S 4 C 5 S 6S 4 C 6 )(C 4 C 5 S 6S 4 C 6)(C 1)(C 2 C 3S 2 S 3)
S 5C 6 ( S 1 C 2 S 3S 1 S 2 S 3 )+ S 1 ( S 4 C 5 S 6+ S 4 C 6 ) (C 4 C 5 S 6S 4 C 6)( S 1 C 2C 3S 1 S 2 S 3)
S 5 C 6 ( C 2 S 3+S 2 S 3 ) + ( C 4 C 5 S 6+ S 4 C 6 ) ( C 2 S 3S 2C 3 )
0

C 1 S 5 ( S 3 C 2S 2 S 3 )S 1 S 4 S 5C 1 C 4 S 5 (C 2C 3S 2 S 3)
S 5 ( S 1 C 2 S 3S 1 S 2 S 3 )+ S 1 S 4 S 5C 4 S 5 ( S 1 C 2 C 3S 1 S 2 S 3 )
S 5 ( C 2 S 3+S 2 S 3 ) +C 4 S 5 ( C 2C 3S 2 S 3 )
0

a2 C 1 C 2+a 3 C 1 ( C 2C 3S 2 S 3 )a 6 C 1 S 5C 6 ( C 2 S 3S 2 S 3 ) +a 6 S 1 ( S 4 C 5 C 6+ S 4 S 6 ) +a 6 C 1(C 4 C 5
a 2 S 1 C 2+a 3 ( S 1 C 2 C 3S 1 S 2 S 3 ) a 6 S 5 C 6 ( S 1 C 2 S 3S 1 S 2 S 3 )a 6 S 1 ( S 4 C 5 C 6+ S 4 S 6 ) +a 6(C 4 C 5 C
a 2 S 2a 3 (C 2 S 3+ S 2 C 3 )d 1+a 6 S 5 C 6 ( C 2 S 3+ S 2 S 3 )a 6(C 4 C 5 C 6+ S 4 S 6)( C 2
1

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