Modelarea geometric a mecanismelor generatoare de traiectorie

Matricea de transformare omogen Denavit-Hartenberg

Matricea

de

i 1
Ti Rot(zi 1 ,omogen
( zi Craig
( xi ,ai ) Rot( xi , i )
transformare
i ) Trans
1 ,di ) Trans

i 1T Rot ( x
i
i 1 , i ) Trans ( xi 1 , ai ) Rot ( zi , i ) Trans ( zi , d i )

cos i
sin
i
i 1
Ti
0

sin i cos i
cos i cos i
sin i
0

sin i sin i
cos i sin i
cos i
0

ai cos i
cos i
sin i
0
ai 1

ai sin i
sin cos
sin i 1 d i sin i 1
i
i 1 cos i cos i
i
d1iTi
d i cos i 1
sin i sin i 1 cos i sin i 1 cos i 1
1

0
0
0
1

1. Roboi n coordonate carteziene (TTT)

(a)

(b)

Fig. 1 Modelul geometric direct Structura TTT

(a) Schema cinematic (b) Schema asociat
Tabelul Denavit-Hartenberg
0-1
1-2
2-3

0
0
0

d
0
d2
d3

a
a1
a2
0

T3 0T1 1T2 2 T3

T1 Trans
( x1 ,a1 ) Rot( x1 ,

)
2

T2 Trans
( z2 ,d2 ) Trans
( x2 ,a2 ) Rot( x2 ,

T3 Trans
( z3 ,d3 )

)
2

-/2
+ /2
0

0 a1

1 0
; 1T
2
0 0

0 1

1 0
0 0
0
T1
0 1

0 0

1
0
0
0

0 0 a2

0 1 0
; 2T3

1 0 d2

0 0
1

1
0
0
0

0
1
0
0

0 0
0 0

1 0

0 d3

sau
T1 Trans
( x1 ,a1 ) Rot( x1 ,

1
0
0
T1
0

0
1
0
0

0 a1
0 0

1 0

0 1

)
2

1 0
0 0
0 1
0 0

0
1
0
0

0
0

Se obine matricea omogen:

1 0 0 a1 a2
0 1 0
d2

T3

0 0 1

d3

0 0 0

Pentru soluionarea problemei cinematico-poziionale se pornete de la expresia:

TEF 0T3

adic
ay

py

1 0 0 a1 a2
0 1 0
d2

oz

az

pz

0 0 1

d3

0 0 0

nx
n
y

ox ax
oy

nz
0

px

2. Roboi n coordonate cilindrice (RTT)

Fig. 2 Modelul geometric direct Structura RTT

3. Roboi n coordonate sferice (RRT)

(a)

(b)

Fig. 3 Modelul geometric direct Structura RRT

(a) Schema cinematic (b) Schema asociat
Tabelul Denavit-Hartenberg

1
2
3

0-1
1-2
2-3

d
d1
d2
d3

a
0
0
0

-/2
/2
0

T3 0T1 1 T2 2 T3

)
2

1
T2 Rot( z2 , 2 ) Trans
( z2 ,d2 ) Rot( x2 , )
2
2
T3 Trans
( z3 ,d3 )
T1 Rot( z1 , 1 ) Trans
( z1 ,d1 ) Rot( x1 ,

Matricea de transformare omogen va fi:

1
0
0
T3
0

0
1
0
0

0 a1 a2
0
d2

1
d3

0
1

sau

T3

cos 1 cos 2 sin 2 cos 1 sin 2 d3 cos 1 sin 2 d2 sin 1

sin cos
cos 1 sin 1 sin 2 d3 sin 1 sin 2 d2 cos 1
1
2

sin 2

cos 2

d1 d3 cos 2

4. Roboi antropomorfi (RRR)

(a)

(b)

Fig. 4 Modelul geometric direct Structura RRR

(a) Schema cinematic (b) Schema asociat
Tabelul Denavit-Hartenberg

1
2
3

0-1
1-2
2-3

d
d1
0
0

a
0
a2
a3

/2
0
0

T3 0T1 1 T2 2 T3

T1 Rot( z1 , 1 ) Trans
( z1 ,d1 ) Rot( x1 , )
2
1
T2 Rot( z2 , 2 ) Trans
( x2 ,a2 )
0

T3 Rot( z3 , 3 ) Trans
( x3 ,a3 )

Matricea de transformare omogen va fi:

T3

c1c2c3 c1s2s3
cc s sss
2 3 1
1 2 3

c1c2s3 c1c3s2

s1

c2s1s3 c3s1s2

c1

a2c1c2 a3c1c3 a3c1s2s3

a2c2s1 a3c2c3s1 a3s1s2s3

d1

5. Manipulator tip SCARA

Tabelul Denavit-Hartenberg
0-1
1-2
2-3
3-4

1
2
0
4

d
0
0
d3
d4

a
a1
a2
0
0

0
0

Matricea de transformare omogen va fi:

c1c2c4 s1s2s4
s sc c c s
1 2 4
1 2 4
0
T4

c1c2s4 s1s2c4
s1s2s4 c1c2c4
0
0

0 a1c1 a2c1c2
0 a1s1 a2s1s2

1
d3 d4

0
1

6. Bra 2D manipulator
Tabelul Denavit-Hartenberg
0-1
1-2

1
2

d
0
0

a
a1
a2

0
0