Introduction

Link Description
Link-Connection Description
Convention for Affixing Frames to Links
Manipulator Kinematics
Actuator Space, Joint Space, and Cartesian
Space
Example: Kinematics of PUMA Robot

Outline:
1
 Kinematics:
Motion without regarding the forces that cause it (Position,
Velocity, and Acceleration). Geometry and Time
dependent.
 Rigidlinks are assumed, connected with joints that
are instrumented with sensors to the measure the
relative position of the connected links.
◦ Revolute Joint Joint Angle
◦ Prismatic Joint Joint Offset/Displacement
Sensor
 Degrees of Freedom
# of independent position variables which have to be
Sensor
specified in order to locate all parts of the mechanism

Introduction:
2
Degrees of Freedom
Ex: 4-Bar mechanism,
# of independent position
variables = 1
 DoF = 1

Typicalindustrial open chain serial robot

1 Joint  1 DoF
 # of Joints ≡ # of DoF
End Effector:
Gripper, Welding torch, Electromagnetic, etc…

Introduction:
3
 The position of the manipulator is
described by giving a description of the
tool frame (attached to the E.E.) relative
to the base frame (non-moving).
Froward kinematics:

Given Calculate Position & Orientation of

Joint the tool frame w. r. t.
Angles base frame
Joint space Cartesian space
(θ1,θ1,…,θDoF) (x,y,z, and orientation
angles)
Introduction:
4
 Links Numbering: In this chapter:
- Rigid links are assumed
which define the
E.E. relationship between the
corresponding joint axes
n-1 n of the manipulator.

0
Base
Link Description:
5
  Joint axis (i):
Is a line in space or
direction vector about
which link (i) rotates
relative to link (i-1)
 ai ≡ represents the
distance between axes (i
& i+1) which is a property
of the link (link geometry)
ai ≡ ith link length
 αi ≡ angle from axis i to
i+1 in right hand sense
Link
about a .
Description:
ote that a plane i normal to ai axis will be parallel to both
xis i andαaxis
i ≡ link
i+1.twist 6
Example: consider the link, find link length
and twist?

a = 7in
α = +45o

Link Description
7
Intermediate link:
Axis i ≡ common axis between links i and i-1
di ≡ link offset ≡ distance along this
common axis from
one link to the next
θi ≡ joint angle ≡ the amount
of rotation about this
common axis between
one link and the other
Important
di ≡ variable if joint i is prismatic
θi ≡ variable if joint i is revolute

Joint Description
8
 First and last links:
◦ Use a0 = 0 and α0 = 0. And an and αn are not needed
to be defined
Joints 1:
◦ Revolute  the zero position for θ1 is chosen
arbitrarily.
 d1 = 0.
◦ Prismatic  the zero position for d1 is chosen
arbitrarily.
 θ1 = 0.
Joints n: the same convention as joint 1.
Zero values were assigned so that later calculations will be a
simple as possible
Joint Description
9
 Linkparameters
Hence, any robot can be described kinematically by
giving the values of four quantities for each link. Two
describe the link itself, and two describe the link's
connection to a neighboring link. In the usual case of a
revolute joint, θi is called the joint variable, and the
other three quantities would be fixed link parameters.
For prismatic joints, d1 is the joint variable, and
the other three quantities are fixed link parameters.
The definition of mechanisms by means of these
quantities is a convention usually called the
Denavit—Hartenberg notation

Joint Description
10
A frame is attached rigidly to each link;
frame {i} is attached rigidly to link (i),
such that:
Intermediate link
◦ -axis of frame {i} is coincident with the joint
axis (i).
◦ The origin of frame {i} is located where the ai
perpendicular intersects the joint (i) axis.
◦ -axis points along ai in the direction from joint
(i) to joint (i+1)
◦ In the case of ai= 0, is normal to the plane of
Convention
and . We define for attaching
α i as frames
being measured in the
to links
right-hand sense about .
◦ is formed by the right-hand rule to complete 11

the ithframe.
First link/joint:
◦ Use frames {0} and {1} coincident when joint variable (1) is
zero.
 (a0 = 0, α0 = 0, and d0 = 0) if joint (1) is revolute
 (a0 = 0, α0 = 0, and d0 = 0) if joint (1) is revolute

Last link/joint:
◦ Revolute joint: frames {n-1} and {n} are coincident when θi =
0.
as a result di = 0 (always).
◦ Prismatic joint: frames {n-1} and {n} are coincident when di
= 0.
as a result θi = 0 (always).

Convention for attaching frames

to links
12
 Summary

Note: frames attachments

Convention
is not unique
for attaching
frames to links
13
Example: attach frames for the following
manipulator, and find DH parameters…

Convention for attaching

frames to links
14
Example: attach frames for the following
manipulator, and find DH parameters…
◦ Determine Joint axes
(in this case out of the page)
 All αi = 0
◦ Base frame {0} when θ1 = 0
 can be determined.
◦ Frame {3} (last link) when θ3= 0
 can be determined.

Convention for attaching

frames to links
15
Construct the table:

Convention for attaching

frames to links
16
 Previous exam question

For the 3DoF

manipulator shown in
the figure assign frames
for each link using DH
method and determine
link parameters.

Convention for attaching

frames to links
17