Robot 6-Axis: Difference between revisions

From FreeCAD Documentation
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| [[Image:KukaBase.jpg]]
| [[Image:KukaBase.jpg]]
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|| Base konfiguration
|| Base konfiguration
|| Base konfiguration
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Alpha1 = −90°
Alpha1 = −90°


|| Segment 1
|| Base konfiguration
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| [[Image:KukaSegment2.jpg]]
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Omega2 = q2 - 90°

d2 = 0 mm

a2 = 680 mm

Alpha3 = 0°

|| Segment 2
|-
| [[Image:KukaSegment3.jpg]]
||
Omega3 = q3

d3 = 0 mm

a3 = 0 mm

Alpha3 = 90°

|| Segment 3
|}
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Revision as of 19:15, 19 September 2009

This Article is about bringing a Standard 6-Axis industry robot into FreeCAD for simulation

The description follows the Denavit-Hartenberg Parameter system, as also described in John J. Craigs book "Introduction to Robotics".

Example Kuka

The Kuka KR-16


Kinematic

3D applications
Segment Parameter Description
Base konfiguration

Omega1 = q1

d1 = 675 mm

a1 = 260 mm

Alpha1 = −90°

Segment 1

Omega2 = q2 - 90°

d2 = 0 mm

a2 = 680 mm

Alpha3 = 0°

Segment 2

Omega3 = q3

d3 = 0 mm

a3 = 0 mm

Alpha3 = 90°

Segment 3