Robot 6-Axis: Difference between revisions
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! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math> |
! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math> |
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| 1 || q1 || |
| 1 || q1 || 675 mm || 260 mm || -90° |
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| 2 || q2 - 90° || 0 mm || 680 mm || 0° |
| 2 || q2 - 90° || 0 mm || 680 mm || 0° |
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! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math> |
! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math> |
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| 1 || q1 || |
| 1 || q1 || 675 mm || 260 mm || -90° |
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| 2 || q2 || 0 mm || 680 mm || 0° |
| 2 || q2 || 0 mm || 680 mm || 0° |
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|+ '''Kinematik table''' |
|+ '''Kinematik table''' |
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! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math> !! <math>\theta_{ |
! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math> !! <math>\theta_{min}</math> !! <math>\theta_{max}</math> !! Axis Speed |
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| 1 || 0 || 575 || 260 || -90 || -185 || 185 || 156 |
| 1 || 0 || 575 || 260 || -90 || -185 || 185 || 156 |
Revision as of 22:55, 19 September 2009
This Article is about bringing a Standard 6-Axis industry robot into FreeCAD for simulation
The description follows the Denavit-Hartenberg Parameter system, as also described in John J. Craigs book "Introduction to Robotics".
Example Kuka
Kinematic
This leads to following table:
1 | q1 | 675 mm | 260 mm | -90° |
2 | q2 - 90° | 0 mm | 680 mm | 0° |
3 | q3 | 0 mm | 0 mm | 90° |
4 | q4 | -670 mm | 0 mm | -90° |
5 | q5 | 0 mm | 0 mm | 90° |
6 | q6 | -158 mm | 0 mm | 180° |
Since the Kuka robots do not have all Axis to 0 in the drawn L-Position, we have to change Axis 2 & 3 by 90°.
1 | q1 | 675 mm | 260 mm | -90° |
2 | q2 | 0 mm | 680 mm | 0° |
3 | q3 - 90° | 0 mm | 0 mm | 90° |
4 | q4 | -670 mm | 0 mm | -90° |
5 | q5 | 0 mm | 0 mm | 90° |
6 | q6 | -158 mm | 0 mm | 180° |
In the Data sheet we find additional information about the Axis:
That leads to this complete Table:
Axis Speed | |||||||
---|---|---|---|---|---|---|---|
1 | 0 | 575 | 260 | -90 | -185 | 185 | 156 |
2 | 0 | 0 | 680 | 0 | -155 | 35 | 156 |
3 | - 90 | 0 | 0 | 90 | -130 | 154 | 156 |
4 | 0 | -670 | 0 | -90 | -350 | 350 | 330 |
5 | 0 | 0 | 0 | 90 | -130 | 130 | 330 |
6 | q6 | -158 | 0 | 180 | -350 | 350 | 615 |