03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
The Parameters
You can align the two axis
just using the 4 parameters
1) a(n+1) :Technical Definition: a(n+1) is the length of the perpendicular
between the joint axes. The joint axes is the axes around which revolution
takes place which are the Z(n) and Z(n+1) axes. These two axes can be viewed
as lines in space. The common perpendicular is the shortest line between the
two axis-lines and is perpendicular to both axis-lines.
03/01/2025 By Elias Damite Mechatronics Lecturer
a(n+1)
Visual Approach - “A way to visualize the link parameter a(n+1) is to
imagine an expanding cylinder whose axis is the Z(n) axis - when the
cylinder just touches the joint axis n the radius of the cylinder is equal
to a(n+1).” (Manipulator Kinematics)
It’s Usually on the Diagram Approach - If the diagram already
specifies the various coordinate frames, then the common
perpendicular is usually the X(n+1) axis. So a(n+1) is just the displacement
along the X(n) to move from the (n) frame to the (n+1)frame.
If the link is prismatic, then a(n+1) is a variable, not a parameter.
03/01/2025 By Elias Damite Mechatronics Lecturer
2) α(n+1)
Technical Definition: Amount of rotation around the common
perpendicular so that the joint axes are parallel.
i.e. How much you have to rotate around the X(n+1) axis so that the Z(n) is
pointing in the same direction as the Z(n+1) axis. Positive rotation
follows
03/01/2025 the right hand rule. By Elias Damite Mechatronics Lecturer
3) d(n+1)
Technical Definition: The displacement
along the Zn axis needed to align the a(n+1)
common perpendicular to the an common
perpendicular.
In other words, displacement along the
Zn to align the X(n) and X(n+1) axes.
4) θn+1
Amount of rotation around the Zn axis
needed to align the X(n) axis with the X(n+1)
axis.
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
The Denavit-Hartenberg Matrix
Just like the Homogeneous Matrix, the Denavit-Hartenberg Matrix is a
transformation matrix from one coordinate frame to the next. Using a series of
D-H Matrix multiplications and the D-H Parameter table, the final result is a
transformation matrix from some frame to your initial frame.
Put the transformation here
03/01/2025 By Elias Damite Mechatronics Lecturer
03/01/2025 By Elias Damite Mechatronics Lecturer
3 Revolute Joints Y2 Z
2
Z0 Z1
X2
d2
X0 X1
Y0 Y1
Denavit-Hartenberg Link
Parameter Table
a0 a1
i (i-1) a(i-1) di i
Notice that the table has two uses:
1 0 a0 0 0
1) To describe the robot with its variables
and parameters. 2 0 a1 0 1
2) To describe some state of the robot by
3 -90 d2 2
having a numerical values for the
variables.
03/01/2025 By Elias Damite Mechatronics Lecturer
Y2 Z
2
i (i-1) a(i-1) di i
Z0 Z1
1 0 a0 0 0
X2
d2
2 0 a1 0 1
X0 X1
Y0 Y1 3 -90 d2 2
a0 a1
V X2
Y2
V
V X 0 Y0 Z 0 T T ( 0T)( 01T)( 12T)
V Z2
1 Note: T is the D-H matrix with (i) = i-1 and i = 1.
03/01/2025 By Elias Damite Mechatronics Lecturer
Exercise-1
03/01/2025 By Elias Damite Mechatronics Lecturer
Exercise-2
03/01/2025 By Elias Damite Mechatronics Lecturer
Exercise-3
03/01/2025 By Elias Damite Mechatronics Lecturer
Exercise-4
03/01/2025 By Elias Damite Mechatronics Lecturer
