Question

2. Draw a simple Stanford manipulator with d=0 and find all joint variables parametrically for a given dº, and Rºo- 3. T gi'

Answer 1

Answer:

The Stanford Arm, designed by Victor Scheinmann in 1969, can be considered to be one of the classic manipulators in robotics, and is one of the first robots that are designed exclusively for computer control.

U V V cool * DH - coordinate Note 8 the shoulder prismotic point stanfood Manipulator # is mounted Woong.

Forward Kinematics uses different kinematic equations in order to compute for the end-tip position of a manipulator given its joint parameters. Joint parameters can refer to joint angles θ for revolute joints or link lengths for prismatic joints.

Denavit Hartenberg Parameters:

With DH Parameters, only need to take four parameters for each i:$\Theta$_i joint for the joint angle, $\alpha$ _i for the link twist, d_i for the link offset, and a_i for the link length. Once I’ve obtained them, can just plug them into this transformation matrix:

e_o7 roos (09) SA (0°) 4080).s(0) Sir (80).swlog . Co (0,97 C0869.(09) -S4 14,9).(09 0, sidoy, sin(x) Cosca do - Arm hearre are t For DH the stanford parameters Jornt Joint Angle Link offset | Link Length Link Twist -90 3 4 -90 04 - N n I he do du - 90 161 ob do Table I. DH parameters for the stanford him > The point Variables are then expressed as Vector Vi V = [0, O da Os Of] . (page -

" lented in physical constraints, They such are that Parameters arameters Limitation [-180. 180 [-90 90] [13 [180 180] [-25 25] [-180 180] Jant Variable physical Constraints (page-2)

We first establish the joint coordinate frames using the D-H convention as shown. The link parameters are shown in the Table.