ROBOT ARM without end effector
Denavit-Hertenberg Parameters
i
|
αi-1
|
ai-1
|
di
|
θi
|
1
|
0
|
0
|
0
|
θ 1
|
2
|
0
|
L1
|
0
|
θ2
|
3
|
0
|
L2
|
0
|
θ3
|
Designed in solidworks then 3D printed. I didn't simulate the model to check shear strength of the joints. Nylon was used in 3D printer in this model.Here,you can see, three servo motors are used two at joints and one at wrist, all have torque of 5 Kg-cm. And the servo motor at the base has 15 kg-cm torque. I designed a gripper which has two hand, has gear profile on both the parts and one hand is pivoted another is attached to 2.5 Kg-cm torque servo motor. But in figure it is without end effector. I didn't update the model later. But I fabricated.
Matlab program for computing forward kinematics of 3-R Robot Arm.
clear clc
L1=26 cm %lenth of link 1
L2=14 cm %lenght of link 2
b=[0 0 0] %twist angle
a=[0 26 14] %link lenth
d=[0 0 0] %offset
t=[pi/2 pi/4 pi/6] %joint angle % at a posture of robot
temp = zeros(4,4,3);
for i=1:3
temp(:,:,i)=[cos(t(i)) -sin(t(i)) 0 a(i);
sin(t(i))*cos(b(i)) cos(t(i))*cos(b(i)) -sin(b(i)) -sin(b(i))*d(i);
sin(t(i))*sin(b(i)) cos(t(i))*sin(b(i)) cos(b(i)) cos(b(i))*d(i);
0 0 0 1]
end
A=temp(:,:,1); %Transform matrix for frame 3 with respect to 1
B=temp(:,:,2);%Transform matrix for frame 2 with respect to 1
C=temp(:,:,3);%Transform matrix for frame 1 with respect to 0
T=A*B*C %Transform matrix for frame 3 with respect 0
video...
