Robot 6-Axis: Difference between revisions

From FreeCAD Documentation
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| [[Image:KukaSegment1.jpg]]
| [[Image:KukaSegment1.jpg]]
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<math>\theta_{1} = q_{1}</math>
Omega1 = q1


d1 = 675 mm
<math>d_{1} = 675 mm </math>


a1 = 260 mm
<math>a_{1} = 260 mm </math>


Alpha1 = −90°
<math>\alpha_{1} = −90</math>°


|| Segment 1
|| Segment 1
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| [[Image:KukaSegment2.jpg]]
| [[Image:KukaSegment2.jpg]]
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Omega2 = q2 - 90°


<math>\theta_{2} = q_{2} - 90</math>°
d2 = 0 mm


a2 = 680 mm
<math>d_{2} = 0 mm </math>


<math>a_{2} = 680 mm </math>
Alpha3 = 0°

<math>\alpha_{2} = 0</math>°


|| Segment 2
|| Segment 2
Line 55: Line 56:
| [[Image:KukaSegment3.jpg]]
| [[Image:KukaSegment3.jpg]]
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Omega3 = q3


<math>\theta_{3} = q_{3} </math>
d3 = 0 mm

<math>d_{3} = 0 mm </math>


a3 = 0 mm
<math>a_{3} = 0 mm </math>


Alpha3 = 90°
<math>\alpha_{3} = 90</math>°


|| Segment 3
|| Segment 3

Revision as of 19:53, 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

The Kuka KR-16


Kinematic

3D applications
Segment Parameter Description
Base konfiguration

Failed to parse (SVG (MathML can be enabled via browser plugin): Invalid response ("Math extension cannot connect to Restbase.") from server "https://wikimedia.org/api/rest_v1/":): {\displaystyle \alpha_{1} = −90} °

Segment 1

°

°

Segment 2

°

Segment 3