Robot 6-Axis

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
	$\theta _{1}=q_{1}$ $d_{1}=675mm$ $a_{1}=260mm$ Failed to parse (syntax error): {\displaystyle \alpha_{1} = −90} °	Segment 1
	$\theta _{2}=q_{2}-90$° $d_{2}=0mm$ $a_{2}=680mm$ $\alpha _{2}=0$°	Segment 2
	$\theta _{3}=q_{3}$ $d_{3}=0mm$ $a_{3}=0mm$ $\alpha _{3}=90$°	Segment 3
	$\theta _{4}=q_{4}$ $d_{4}=-670mm$ $a_{4}=0mm$ $\alpha _{4}=-90$°	Segment 4
	$\theta _{5}=q_{5}$ $d_{5}=0mm$ $a_{5}=0mm$ $\alpha _{5}=90$°	Segment 5
	$\theta _{6}=q_{6}$ $d_{6}=0mm$ $a_{6}=-158mm$ $\alpha _{6}=180$°	Segment 6

This leads to following table:

Kinematik table

$i$	$\theta$	$d$	$a$	$\alpha$
1	q1	575 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°