3592585
Description
Mind Map by Jhon Lagos, updated more than 1 year ago
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Created by Jhon Lagos
over 8 years ago
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SCARA
- STEP 1
- Representation
- Joints
- 2 Rotationals
- One Prismatic
- 2 Rotationals
- Joints
- Representation
- Step 2
- Coordinate System
- Xi
- X0
- X1
- X2
- X3
- X0
- Zi
- Z0
- Z1
- Z2
- Z3
- Z0
- Xi
- Coordinate System
- Step 3
- Determine table Denavit-Hartenberg
- ai=distance between Z along X
- αi= angle must be between a Z axis along the X to get to the other Z
- di=is the displacement must be done to put the X collinear in dirrection of z
- θ= is variable in joints of type rotative
- ai=distance between Z along X
- Determine table Denavit-Hartenberg
- Step 4
- Determining step homogeneous matrix
- Determining step homogeneous matrix
- Step 5
- Perform premultiplication
- Response of the forward kinematics
- Response of the forward kinematics
- Perform premultiplication
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