Modelarea geometric a mecanismelor generatoare de traiectorieMatricea de transformare omogen Denavit-Hartenberg

Matricea de transformare omogen Craig

1. Roboi n coordonate carteziene (TTT)

(a)

(b)Fig. 1 Modelul geometric direct Structura TTT(a) Schema cinematic (b) Schema asociat

Tabelul Denavit-Hartenbergda

0-100a1-/2

1-20d2a2+ /2

2-30d300

; ;

sau

Se obine matricea omogen:

Pentru soluionarea problemei cinematico-poziionale se pornete de la expresia:

adic

2. Roboi n coordonate cilindrice (RTT)

Fig. 2 Modelul geometric direct Structura RTT

3. Roboi n coordonate sferice (RRT)

(a)

(b)Fig. 3 Modelul geometric direct Structura RRT

(a) Schema cinematic (b) Schema asociat

Tabelul Denavit-Hartenbergda

0-11d10-/2

1-22d20/2

2-33d300

Matricea de transformare omogen va fi:

sau

4. Roboi antropomorfi (RRR)

(a)

(b)Fig. 4 Modelul geometric direct Structura RRR(a) Schema cinematic (b) Schema asociat

Tabelul Denavit-Hartenbergda

0-11d10/2

1-220a20

2-330a30

Matricea de transformare omogen va fi:

5. Manipulator tip SCARA

Tabelul Denavit-Hartenbergda

0-110a10

1-220a2

2-30d300

3-44d400

Matricea de transformare omogen va fi:

6. Bra 2D manipulatorda

0-110a10

1-220a20

Tabelul Denavit-Hartenberg EMBED Equation.3

EMBED Equation.3

EMBED Equation.3

EMBED Equation.3

EMBED Equation.3

_1413730378.unknown

_1413731466.unknown

_1413733183.unknown

_1413734220.unknown

_1416201046.unknown

_1416201106.unknown

_1413738082.unknown

_1413734205.unknown

_1413732316.unknown

_1413731341.unknown

_1413731457.unknown

_1413730434.unknown

_1413729560.unknown

_1413730139.unknown

_1413730259.unknown

_1413730269.unknown

_1413730240.unknown

_1413729523.unknown

_1413729223.unknown