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Technical Report

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Mohamed Khaled
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8 views

Technical Report

Uploaded by

Mohamed Khaled
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Industrial Robotics

Technical Report
Submitted To:
Dr Hossam Ammar

Mohamed Shaker
Adham Gaafar
Ahmed Waleed

1
Contents
Introduction: ................................................................................................................................................. 3
DH table Components: .................................................................................................................................. 3
Steps for solving forward kinematics: ........................................................................................................... 3
Hardware................................................................................................................................................... 4
Defining the frame and assign axes .......................................................................................................... 4
Defining the parameters for each joint: .................................................................................................... 4
Construct the transformation matrices for each joint: ............................................................................. 5
Multiplying the transformation matrices. ................................................................................................. 5
Conclusion: .................................................................................................................................................... 6

Tables
Table 1 DH table Components....................................................................................................................... 3
Table 2 DH table ............................................................................................................................................ 4

Figures
Figure 1 Assembled Robot ............................................................................................................................ 4
Figure 2 Simplified Design with frames and axes .......................................................................................... 4
Figure 3 Python Code .................................................................................................................................... 5
Figure 4 Python Results................................................................................................................................. 6

2
Introduction:
The purpose of this paper is to conduct research on the design and kinematic analysis of a
robotic arm. This is aided by the Denavit Hartenberg convention which serves to unify the joint
and link transformations. The Denavit Hartenberg table allows the detailed occupancy and
orientation of every joint to be modeled accurately enhancing the movement control of the
arm. The DH parameters make it possible to carry out both forward and inverse kinematic
calculations, which are important when it comes to the reliable and effective functioning of such
a robotic system.

DH table Components:
Table 1 DH table Components

Joint Theta(θ) Link offset(d) Link length(a) Twist angle(α)


1 θ₁ d₁ a₁ α₁
2 θ₂ d₂ a₂ α₂

1. θ (Theta): The joint angle, which represents the rotation around the Z-axis of the current
joint.
2. d: The link offset, representing the distance along the Z-axis between the two
consecutive links.
3. a: The link length, which is the distance between the Z-axes of two consecutive joints
measured along the common normal X-axis.
4. α (Alpha): The twist angle, representing the rotation around the X-axis to align the Z-axis
of one link to the Z-axis of the next link.

Steps for solving forward kinematics:


1. Defining the frames for each joint.
2. Assigning Z axes, X axes.
3. Define the DH Parameters for each joint
4. Construct the transformation matrices for each joint.
5. Multiplying the transformation matrices.
6. Extract the position and the orientation of the end-effector.

3
Hardware
Submitted on Monday 4/11/2024

Figure 1 Assembled Robot

Defining the frame and assign axes:

Figure 2 Simplified Design with frames and axes

d1 = 61
a1 = 22
a2 = 148
a3 = 160
Defining the parameters for each joint:
Table 2 DH table

DH table Theta(θ) Link offset(d) Link length(a) Twist angle(α)


0-1 θ₁ d₁ a₁ 90
1-2 θ₂ 0 a₂ 0
2-h θ3 0 a3 0

4
Construct the transformation matrices for each joint:
Assume all θ = 90

Multiplying the transformation matrices.

A = A1 * A2 *A3

Figure 3 Python Code

5
Figure 4 Python Results

Conclusion:
The Denavit-Hartenberg (DH) parameters simplify the modeling of robotic arms by defining the
relationship between joints and links. Parameters like θ, d, a, and α describe joint angles, link
lengths, and orientations. These are essential for calculating the position and orientation of the
robot's end-effector

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