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# Modelarea geometric a mecanismelor generatoare de traiectorie

## Matricea de transformare omogen Denavit-Hartenberg

1. Roboi n coordonate carteziene (TTT)

(a) (b)
Fig. 1 Modelul geometric direct Structura TTT
(a) Schema cinematic (b) Schema asociat
Tabelul Denavit-Hartenberg
d a
0-1 0 0 a
1
-/2
1-2 0 d
2
a
2
+ /2
2-3 0 d
3
0 0

3
2
2
1
1
0
3
0
T T T T =
) d , z ( Trans T
) , x ( Rot ) a , x ( Trans ) d , z ( Trans T
) , x ( Rot ) a , x ( Trans T
3 3 3
2
2 2 2 2 2 2
1
1 1 1 1
0
2
2
=
+ =
=
t
t

) , x ( Rot ) a , x ( Trans ) d , z ( Trans ) , z ( Rot T
i i i i i i i i i
i
o u =

1 1
1
(
(
(
(

1 0 0 0
0
1
i i i
i i i i i i i
i i i i i i i
i
i
d cos sin
sin a sin cos cos cos sin
cos a sin sin cos sin cos
T
o o
u o u o u u
u o u o u u
(
(
(
(

=
1 0 0 0
0 0 1 0
0 1 0 0
0 0 1
1
1
0
a
T ;
(
(
(
(

=
1 0 0 0
0 1 0
0 1 0 0
0 0 1
2
2
2
1
d
a
T ;
(
(
(
(

=
3
3
2
0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
d
T
sau
) , x ( Rot ) a , x ( Trans T
2
1 1 1 1
0
t
=
(
(
(
(

(
(
(
(

=
1 0 0 0
0 0 1 0
0 1 0 0
0 0 0 1
1 0 0 0
0 1 0 0
0 0 1 0
0 0 1
1
1
0
a
T
Se obine matricea omogen:
(
(
(
(

+
=
1 0 0 0
1 0 0
0 1 0
0 0 1
3
2
2 1
3
0
d
d
a a
T
Pentru soluionarea problemei cinematico-poziionale se pornete de la expresia:
3
0
T T
EF
R
=
(
(
(
(

+
=
(
(
(
(

1 0 0 0
1 0 0
0 1 0
0 0 1
1 0 0 0
3
2
2 1
d
d
a a
p a o n
p a o n
p a o n
z z z z
y y y y
x x x x

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
d a
0-1
1
d
1
0 -/2
1-2
2
d
2
0 /2
2-3
3
d
3
0 0

3
2
2
1
1
0
3
0
T T T T =
) d , z ( Trans T
) , x ( Rot ) d , z ( Trans ) , z ( Rot T
) , x ( Rot ) d , z ( Trans ) , z ( Rot T
3 3 3
2
2 2 2 2 2 2
1
1 1 1 1 1 1
0
2
2
=
=
=
t
u
t
u

Matricea de transformare omogen va fi:
(
(
(
(

+
=
1 0 0 0
1 0 0
0 1 0
0 0 1
3
2
2 1
3
0
d
d
a a
T
sau
(
(
(
(

+
+

=
1 0 0 0
0
2 3 1 2 2
1 2 2 1 3 2 1 1 2 1
1 2 2 1 3 2 1 2 2 1
3
0
u u u
u u u u u u u u
u u u u u u u u
cos d d cos sin
cos d sin sin d sin sin cos cos sin
sin d sin cos d sin cos sin cos cos
T

4. Roboi antropomorfi (RRR)

(a) (b)
Fig. 4 Modelul geometric direct Structura RRR
(a) Schema cinematic (b) Schema asociat
Tabelul Denavit-Hartenberg
d a
0-1
1
d
1
0 /2
1-2
2
0

a
2
0
2-3
3
0

a
3
0

3
2
2
1
1
0
3
0
T T T T =
) a , x ( Trans ) , z ( Rot T
) a , x ( Trans ) , z ( Rot T
) , x ( Rot ) d , z ( Trans ) , z ( Rot T
3 3 3 3 3
2
2 2 2 2 2
1
1 1 1 1 1 1
0
2
=
=
=
u
u
t
u

Matricea de transformare omogen va fi:
(
(
(
(

+
+
=
1 0 0 0
1 0 0
1
3 2 1 3 1 3 2 3 1 2 2 1 2 1 3 3 1 2 3 2 1 1 3 2
3 2 1 3 3 1 3 2 1 2 1 2 3 1 3 2 1 3 2 1 3 2 1
3
0
d
s s s a s c c a s c a c s s c s s c s s s s c c
s s c a c c a c c a s s c c s c c s s c c c c
T

5. Manipulator tip SCARA

Tabelul Denavit-Hartenberg
d a
0-1
1
0

a
1
0
1-2
2
0

a
2

2-3 0 d
3
0

0
3-4
4
d
4
0 0

Matricea de transformare omogen va fi:
(
(
(
(

+
+ + +
=
1 0 0 0
1 0 0
0
0
4 3
2 1 2 1 1 4 2 1 4 2 1 4 2 1 4 2 1
2 1 2 1 1 4 2 1 4 2 1 4 2 1 4 2 1
4
0
d d
s s a s a c c c s s s s c c c s s
c c a c a c s s s c c s s s c c c
T

6. Bra 2D manipulator
Tabelul Denavit-Hartenberg

d a
0-1
1
0

a
1
0
1-2
2
0

a
2
0