rozum robotics PULSE 75, Руководство по установке оборудования

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ROZUM ROBOTICS PULSE collaborative robot
Rev. 6, in effect from Q2 2019
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ANNEX I. KINEMATICS OF THE PULSE ARM
The kinematics of the PULSE robotic arm is described with three parameters of Denavit-
Hartenberg convention as illustrated in
Figure I-1 and Table I-1 . These parameters include:

d— distance from the origin to the common normal along the z axis of the previous joint
The common normal of two non-intersecting joint axes is a line perpendicular to
both axes.

a— length of the common normal

alpha— angle of rotation about the common normal, from the previous z axis to the new
one
Figure I-1: Denavit-Hartenberg convention applied to the PULSE robotic arm
The origin point is the intersection of Motor 1 and Motor 2 rotation axes.
Table I-1: Denavit-Hartenberg parameters and their values
Joint
PULSE 75 PULSE 90
d(m) a(m) alpha(rad) d(m) a(m) alpha(rad)
1 0.2325 0
π/2
0.2325 0
π/2
2 0 -0.375 0 0 -0.450 0
3 0 -0.295 0 0 -0.370 0
4 0.1205 0
π/2
0.1205 0
π/2
5 0.1711 0 -π/2 0.1711 0 -π/2
6 0.1226 0 0 0.1226 0 0