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IV.
Mathematical Formulation
Kinematics of the manipulator deals with each
moveable part of the robot by assigning it a
frame of reference and since the manipulator has
many parts, it has many individual frames. An
analysis of the links at different position is
methodically calculated. The relationship
between the associated forces, motion and
torques is also studied. The Fig.4 shows a few
positions of the arm produced by the movement
of different joints.
Table 4
Kinematic Parameters of The Manipulator
Axis d (mm)
a (mm)
1
1 d1 = 195 0
2
2
2 0
a2 = 170 0
3
0
3
a3 = 170 0
4
4 0
a4 = 1
2
5
0
5 d5 = 125 0
(1)
On substituting the DH parameters in Table 4
into eq. (1), we get individual transformation
matrices T01 toT45 , and a global matrix of
transformation T05 as in eq. (2):
T05 =T01 T12 T23 T34 T45 =
(Fig.5) Link Coordinate Frame of the
Manipulator
(2)
400
300
Pz
200
100
0
-100
300
200
Th eta1
Th eta2
Th eta3
Th eta4
Th eta5
varyi ng,
varyi ng,
varyi ng,
varyi ng,
varyi ng,
400
300
200
Pz
m = C1 C234 C5 + S1 S5
(3)
m = S1 C234 C5 C1 S5
(4)
m = S234 C5
(5)
n = C1 C234 S5 + S1 C5
(6)
n = S1 C234 S5 C1 C5
(7)
n = S234 S5
(8)
o = C1 S234
(9)
o = S1 S234
(10)
o = C234
(11)
p = C1 (a2 C2 + a3 C23 + a4 C234 d5 S234 )
(12)
p = S1 (a2 C2 + a3 C23 + a4 C234 d5 S234 )
(13)
p = d1 a2 S2 a3 S23 a4 S234 d5 C234
(14)
100
0
-100
-200
400
200
600
400
200
0
-200
Py
-200
-400
-400
Px
V.
Conclusion
In this paper various designing and fabricating
aspects of a 5 - DOF manipulator has been
described briefly. With reference to many
available manipulators and mobile platforms in
market, a practical design for the manipulator
has been perceived and computer aided
designing tools like CATIA and AutoCAD are
used to model the desired manipulator. As the
construction of the manipulator nears end;
simulation using graphical simulator is
underway. Theoretical analysis of the forward
kinematics was carried out to determine the end
effectors position and orientation.
400
100
200
0
Py
0
-100
-200
Px
REFERENCES
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