Robot 6-Axis: Difference between revisions

From FreeCAD Documentation
Line 119: Line 119:
|-
|-
| 3 || q3 || 0 mm || 0 mm || 90°
| 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°.


{| class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1"
|+ '''Kinematik table'''
|-
! <math>i</math> !! <math>\theta</math> !! <math>d</math> !! <math>a</math> !! <math>\alpha</math>
|-
| 1 || q1 || 575 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°
| 4 || q4 || -670 mm || 0 mm || -90°

Revision as of 22:28, 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 (syntax error): {\displaystyle \alpha_{1} = −90} °

Segment 1

°

°

Segment 2

°

Segment 3

°

Segment 4

°

Segment 5

°

Segment 6

This leads to following table:

Kinematik table
1 q1 575 mm 260 mm -90°
2 q2 - 90° 0 mm 680 mm
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°.


Kinematik table
1 q1 575 mm 260 mm -90°
2 q2 0 mm 680 mm
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°