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SEGUNDO INFORME
MANIPULADOR ROBÓTICO DE 4 GRADOS DE LIBERTAD
ALUMNOS:
SECCIÓN: A
2018-2
Facultad de Ingeniería Mecánica
1. EJES DE COORDENADAS
2. CINEMATICA DIRECTA
Donde:
d1 = 106mm.
a3= 153mm.
a4 = 103mm.
I Ө d a α
A1 Ө1 d1 0 90°
A2 Ө2 0 0 0
A3 Ө3 0 a3 0
A4 Ө4
0 a4 0
[ ]
cos θ1 0 sen θ 1 0
sen θ1 0 −cos θ1 0
A 1=
0 1 0 d1
0 0 0 1
[ ]
cos θ2 −sen θ2 0 0
sen θ2 cos θ2 0 0
A 2=
0 0 1 0
0 0 0 1
[ ]
cos θ3 −sen θ3 0 a 3∗cos θ3
A 3= sen θ3 cos θ3 0 a 3∗sen θ3
0 0 1 0
0 0 0 1
[ ]
cos θ4 −sen θ 4 0 a 4∗cos θ 4
sen θ 4 cos θ 4 0 a 4∗sen θ 4
A 4=
0 0 1 0
0 0 0 1
[ ]
cos θ1 0 sen θ1 0
sen θ 1 0 −cos θ 1 0
T 1=
0 1 0 d1
0 0 0 1
[ ]
cos θ 1∗cos θ 2 −cos θ1∗sen θ 2 sen θ 1 0
sen θ 2∗sen θ1 −sen θ 1∗sen θ2 −cos θ1 0
T 2=
sen θ2 cos θ 2 1 d1
0 0 0 1
[
c (θ1 )∗c(θ 2)∗c (θ3 )−c (θ1 )∗s( θ2)∗s (θ3 )
c (θ2 )∗c (θ 3)∗s (θ1 )−s(θ 1)∗s (θ2)∗s (θ3 )
T 3=
c (θ2)∗s (θ3 )+c (θ3 )∗s( θ2)
0
s(θ 1)
−c( θ1)
0
0
]
a 3∗c (θ1)∗c (θ2 )∗c (θ 3)−a 3∗c( θ1)∗s (θ2 )∗s(θ 3)
a 3∗c(θ2)∗c (θ3 )∗s(θ 1)−a 3∗s (θ1)∗s (θ2 )∗s( θ3)
d 1+ a 3∗c (θ3)∗s (θ 2)
1
s (θ 4)∗(c (θ1)∗s (θ2 )∗s(θ 3)−c (θ1 )∗c (θ 2)∗c(θ3))−c(θ 4 )∗(c (θ1 )∗c (θ 2)∗s (θ3 )+ c (θ1)∗c (θ3 )∗s( θ2))
s (θ4 )∗( s( θ1)∗s (θ2 )∗s(θ 3)−c (θ2 )∗c (θ3 )∗s (θ1))−c(θ 4 )∗(c (θ2 )∗s(θ 1)∗s (θ3 )+ c (θ3 )∗s(θ 1)∗s (θ2 ))
c (θ4 )∗(c (θ 2)∗c(θ3)−s (θ2 )∗s(θ 3))−s(θ 4 )∗(c (θ2 )∗s(θ 3)+c (θ 3)∗s (θ2 ))
0
s(θ 1)
−c( θ1)
0
0
]
a 4 c (θ4 )(c (θ 1)s (θ2 ) s(θ 3)−c (θ1 )c (θ 2)c (θ3 ))−a 4 s(θ4 )(c (θ1 ) c( θ2) s (θ3 )+c (θ1 ) c(θ3) s(θ 2))+ a 3(θ1 )c (θ 2) c (θ3 )−a 3 c (θ 1) s (θ2 ) s(θ 3)
a 4 s (θ4 )(c (θ 2)s (θ1 )s(θ 3)+c (θ 3) s (θ1 )s(θ2))−a 4 c (θ 4 )(s (θ1 ) s(θ 2)s (θ3 )−c (θ 2) c (θ3 ) s( θ1))+a 3 c (θ2 )c (θ 3) s (θ1 )−a 3 s(θ 1)s (θ2 ) s(θ 3)
a 1+ a 4 c (θ 4 )( c (θ2 ) s(θ 3)+c (θ 3)s (θ2 ))+ a 4 s(θ 4 )(c (θ2 )c (θ 3)−s (θ2 )s(θ 3))+a 3 c (θ2 )s(θ 3)+ a3 c (θ 3) s (θ2 )
1
Facultad de Ingeniería Mecánica
3. CINEMATICA INVERSA
Donde:
R= √ x 2+ y 2
r=R−L 4
s=Z−L 1
q 4=−( q 2+ q 3 )
Hallando q3:
2 2 2 3
r + s −L 2 −L
cos ( q 3 )= =D
2∗L 2∗L 3
Facultad de Ingeniería Mecánica
q 3=atan2 ( √ 1−D2 , D )
beta=atan 2(s ,r )
Hallando q2:
q 2=beta−alfa
Facultad de Ingeniería Mecánica