Tag: Denavit-Hartenberg

D-H convention – tutorial 3

Sometimes the links of a manipulator have got such a shape that it is difficult to get the final result because equations are becoming complicated. In this case, not many software are able to deal with the problem of designating the parameters of the manipulator. In this tutorial, such a problem is introduced and later the method is proposed how to simplified working with such manipulators.

The problem is to derive the transformation matrix of the following manipulator:

The manipulator with 2 parallel joints and a spatial link
Fig 1. The manipulator with 2 revolute degrees of freedom (\(l_2\) link points beyond the monitor in the 3D dimension).
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