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Applications of D H Parameters

Applications of D H Parameters. Applications of D-H Parameters. By Dr. Shrishail Kakkeri Professor and Head Mechanical Department Sri Venkateshwara College of Engineering Bangalore. Department of Mechanical Engineering. SVCE. Bangalore.

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Applications of D H Parameters

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  1. Applications of D H Parameters

  2. Applications of D-H Parameters By Dr. Shrishail Kakkeri Professor and Head Mechanical Department Sri Venkateshwara College of Engineering Bangalore Department of Mechanical Engineering. SVCE. Bangalore

  3. Department of Mechanical Engineering. SVCE. Bangalore

  4. Denavit – Hartenberg Convention: The homogeneous displacement matrix required knowledge of homogeneous rotation matrices. A systematic technique for establishing displacement matrix for each adjacent links of a mechanism was proposed by Denvit- and Hartenberg in 1955. Implementation of DH convention: The DH Convention is implemented by following steps. Department of Mechanical Engineering. SVCE. Bangalore

  5. Numbering the links and joints Assigning the coordinates Defining the joint parameters (D-H Parameters) Formation of homogeneous transformation matrix for individual joints Obtaining the D-H, homogeneous transformation matrix for the entire manipulator Department of Mechanical Engineering. SVCE. Bangalore

  6. Application: 3 axis robot arm (Articulated Arm): Department of Mechanical Engineering. SVCE. Bangalore

  7. 1. Links are numbered as shown in figure 2. Co ordinate systems are assigned to various links. The Ziis taken along the axes of rotation. Xi axis is chosen perpendicular to the Zi-1 and Ziaxis. 3. Joint parameters: Joints Joint parameters θi di aiαi 1 θ1 d1 0 +90o 2 θ2 0a2 0 3 θ3 0a3 0 The joint parameters are established as below, The distance between Ooand O1along Zoaxis is d1. The rotation angle α1 measured fromZ0 axis to Z1around X1is α1 = +90o Similarly a2 and a3. Department of Mechanical Engineering. SVCE. Bangalore

  8. 4. The displacement transformation matrices are, 5. The displacement matrix between the frame O3 (EE) and the base coordinate Oo is established utilizing the chain operation of equation. i.e., T03= T01 T12 T23 Department of Mechanical Engineering. SVCE. Bangalore

  9. Thank You Department of Mechanical Engineering. SVCE. Bangalore

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