Denavit Hartenberg Flashcards
1
Q
Denavit Hartemberg convention.
A
- Oi-1 intersectin the kin.axis
- Zi-1 on the kin. axis (2 possibilities)
- Xi-1 on the segment of minimum distance
- Yi-1 right-hand rule
2
Q
Denavit Hartenberg particular cases.
A
- Parallel axis: Oi-1 infinite solutions, Xi-1 just 1 for convention
- Intersecting axis: 2 diffirent solutions
- Coincident/Collinear axis: Oi-1 and Xi-1 infinite solutions
3
Q
Draw the Denavit Hartenberg table structure.
A
- i
- Ti,i-1
- alphai,i-1: rotation of x
- ai,i-1: translation along x
- thetai: rotation of zi-1 on zi
- di: translation along z
4
Q
DH of the planar manipulator.
A
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5
Q
DH of the SCARA robot.
A
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6
Q
DH of the articulated robot.
A
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