Direct Kinematics

Where is my hand?

Direct Kinematics: HERE!

Serial and Parallel Manipulators

Serial and Parallel Manipulators

PUMA560 Hexapod

Links and Joints

Links

Joints: End Effector 2 DOFs

Robot Basis

Link Length and Twist

Axis i

Axis i1

i-1

Denavit-Hartenberg Parameters
Axis i Axis i1 di i

i-1

Link Transformation
Axis i Axis i-1

di

i-1

Example: PUMA560

DK Algorithm
1) Draw sketch 2) Number links. Base=0, Last link = n 3) Identify and number robot joints 4) Draw axis Zi for joint i 5) Determine joint length ai-1 between Zi-1 and Zi 6) Draw axis Xi-1 7) Determine joint twist i-1 measured around Xi-1 8) Determine the joint offset di 9) Determine joint angle i around Zi 10+11) Write link transformation and concatenate