SCARA

Jhon Lagos
Mind Map by Jhon Lagos, updated more than 1 year ago
Jhon Lagos
Created by Jhon Lagos almost 5 years ago
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Mapa mental Robot SCARA
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SCARA
1 STEP 1
1.1 Representation
1.1.1 Joints
1.1.1.1 2 Rotationals
1.1.1.2 One Prismatic
2 Step 2
2.1 Coordinate System
2.1.1 Xi
2.1.1.1 X0
2.1.1.2 X1
2.1.1.3 X2
2.1.1.4 X3
2.1.2 Zi
2.1.2.1 Z0
2.1.2.2 Z1
2.1.2.3 Z2
2.1.2.4 Z3
3 Step 3
3.1 Determine table Denavit-Hartenberg
3.1.1 ai=distance between Z along X
3.1.2 αi= angle must be between a Z axis along the X to get to the other Z
3.1.3 di=is the displacement must be done to put the X collinear in dirrection of z
3.1.4 θ= is variable in joints of type rotative
4 Step 4
4.1 Determining step homogeneous matrix
5 Step 5
5.1 Perform premultiplication
5.1.1 Response of the forward kinematics
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