I am trying to find the kinametic parameters using the J. Craig of the DH parameters for the following 2-DOF robotic manipulator.

enter image description here

where $\ x,y $ are the axes of the reference frame and $\ q_1 , q_2 $ are the parameters of the revolute and prosmatic joint correspondingly. Until now, I have come up with the following solution:

enter image description here

My problem is that I am not at all sure if the term $\ θ_1 - 90 $ is correct and if I have correctly placed the frames for the joints and the end effector. Axes $\ x_0 , y_0 , z_0 $ are the axes of the reference frame, axes $\ x_1 , z_1 $ are for the revolute joint, axes $\ x_2,z_2 $ are for the prismatic joint and axes $\ x_e,z_e $ are for the end effector. I have intentionally left out the $\ y $ axes of the joints and the end effector since they are derived from the right hand rule.


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Browse other questions tagged or ask your own question.