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During this laboratory each engineering team will analysis motion in and then develop
the full kinematic model for the 4-Axis cylindrical robot and the 5-Axis indirect-drive
articulating robot in our laboratory. To achieve this goal, each person will be required to
develop the frame skeletons, link-parameter tables, Ai matrices and forward kinematic
solutions (in the most efficient form) for both of these machines.
As an add on, try to develop the inverse kinematic solution for the 4-Axis cylindrical
robot.
Some Thoughts on D-H Modeling:
During your laboratory analysis, consider the appropriateness of your models by
performing physical verifications of each Ai matrix as well as the completed forward
kinematic solution (Tno). When these proposed solutions are examined, do they appear to
adequately represent the robot motion?
Could they be implemented in the controllers to drive the robots? How and where would
they be used? What modifications would be needed?
As you review your inclass work, analyze and explain each step that is being performed
consider the acceptability of the procedure and the accuracy of the methods used.