Robot 6-Axis

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Revision as of 22:28, 19 September 2009 by Jriegel (talk | contribs) (→‎Kinematic)

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°