Dr. S. Sanyal, Mech. Engg. Dept.

, NIT Raipur

FK Model of 6 DOF PUMA Robot

a2
J2

Z0
d2

X3

Z1

Y2
Y3

Y1

X2

J3
d3 Z3

X1 Y0

X0

Z2

a3

Y4

Z4 Y

J4 J5

Z5

J7

J6

X4 X5

d4

d6

About/along z

J1

Y6

Joints

i-1T

0 to 1

0T

1 to 2

1T

2 to 3

2T

3 to 4

3T

4 to 5

4T

5 to 6

5T

X6

About/along x

900

-900

d2

a2

-d3

-900

a3

-900

d4

1800

-900

900

d6

Z6

FK Model of 6 DOF Robotic Manipulator

About/along z

Joints

i-1T

0 to 1

0T

1 to 2

1T

2 to 3

2T

3 to 4

3T

4 to 5

4T

5 to 6

5T

About/along x

900

a2

a3

00

a4

-900

900

About/along z

Joints

i-1T

0 to 1

0T

1 to 2

1T

2 to 3

2T

3 to 4

3T

4 to 5

4T

5 to 6

5T

About/along x

900

a2

a3

0
2T

0T

1T

C1

S1

C2

-S2

C2a2

S1

-C1

S2

C2

S2a2

00

a4

-900

900

0
3T

4T

C3

-S3

C3a3

C4

-S4

C4a4

C5

S5

S3

C3

S3a3

S4

C4

S4a4

S5

-C5

-1

5T

C6

-S6

S6

C6

FK Model of Stanford Arm

About/along z

Joints

i-1T

0 to 1

0T

1 to 2

1T

2 to 3

2T

3 to 4

3T

4 to 5

4T

5 to 6

5T

About/along x

-900

90

00

-900

900