Ejercicio 1: determine la matriz 03𝑇𝑇 de rotación para el mecanismo.

Paso 1: Marcos de Referencia

Paso 2: Parámetros DH

Paso 3: Matrices de rotación

𝐶𝐶𝜃𝜃𝜃𝜃 −𝑆𝑆𝜃𝜃𝜃𝜃 0 𝑎𝑎𝑖𝑖−1

𝑖𝑖−1 𝑆𝑆𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 −𝑆𝑆𝛼𝛼𝛼𝛼−1 −𝑑𝑑𝑖𝑖 𝑆𝑆𝛼𝛼𝛼𝛼−1
𝑖𝑖 𝑇𝑇 = � �
𝑆𝑆𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝑑𝑑𝑖𝑖 𝐶𝐶𝛼𝛼𝛼𝛼−1
0 0 0 1
𝐶𝐶𝜃𝜃1 −𝑆𝑆𝜃𝜃1 0 0 𝐶𝐶𝜃𝜃2 −𝑆𝑆𝜃𝜃2 0 𝐿𝐿1 1 0 0 𝐿𝐿2
0 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃1 0 0 1 𝑆𝑆 𝐶𝐶𝜃𝜃2 0 0 2 0 1 0 0
1𝑇𝑇 = � � 2𝑇𝑇 = � 𝜃𝜃2 � 3𝑇𝑇 = � �
0 0 1 0 0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1

Paso 4: Multiplicar matrices

[ 01𝑇𝑇][ 12𝑇𝑇 ][ 23𝑇𝑇 ]

 𝐶𝐶11 = 𝐹𝐹1 ∗ 𝐶𝐶1 = 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 + 0 + 0 = 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2
𝐶𝐶12 = 𝐹𝐹1 ∗ 𝐶𝐶2 = −𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2−𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 + 0 + 0 = −𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 −𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2
𝐶𝐶13 = 𝐹𝐹1 ∗ 𝐶𝐶3 = 0
𝐶𝐶14 = 𝐹𝐹1 ∗ 𝐶𝐶4 = 𝐶𝐶𝜃𝜃1 𝐿𝐿1 + 0 + 0 + 0

𝐶𝐶21 = 𝐹𝐹2 ∗ 𝐶𝐶1 = 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 +𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 + 0 + 0 = 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 +𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2
𝐶𝐶22 = 𝐹𝐹2 ∗ 𝐶𝐶2 = −𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2+𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 + 0 + 0 = −𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 +𝐶𝐶𝜃𝜃1𝐶𝐶𝜃𝜃2
𝐶𝐶23 = 𝐹𝐹2 ∗ 𝐶𝐶3 = 0 + 0 + 0 + 0 = 0
𝐶𝐶24 = 𝐹𝐹2 ∗ 𝐶𝐶4 = 𝑆𝑆𝜃𝜃1 𝐿𝐿2 + 0 + 0 + 0 = 𝑆𝑆𝜃𝜃1 𝐿𝐿1

𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 −𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2−𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 0 𝐿𝐿1 𝐶𝐶𝜃𝜃1

0 0 1 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 +𝐶𝐶𝜃𝜃1𝑆𝑆𝜃𝜃2 −𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 +𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 0 𝐿𝐿1 𝑆𝑆𝜃𝜃1
2𝑇𝑇 = [ 1𝑇𝑇 ][ 2𝑇𝑇 ] = � �
0 0 1 0
0 0 0 1

Consideramos las transformaciones:

𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 = 𝐶𝐶𝜃𝜃1+𝜃𝜃2 = 𝐶𝐶12

𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 +𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 = 𝑆𝑆𝜃𝜃1+𝜃𝜃2 = 𝑆𝑆12
𝐶𝐶12 −𝑆𝑆12 0 𝐿𝐿1 𝐶𝐶𝜃𝜃1
0 𝑆𝑆12 𝐶𝐶12 0 𝐿𝐿1 𝑆𝑆𝜃𝜃1
2𝑇𝑇 = � �
0 0 1 0
0 0 0 1
𝐶𝐶12 −𝑆𝑆12 0 𝐿𝐿1 𝐶𝐶𝜃𝜃1 1 0 0 𝐿𝐿2
0 0 2 𝑆𝑆12 𝐶𝐶12 0 𝐿𝐿1 𝑆𝑆𝜃𝜃1 0 1 0 0
3𝑇𝑇 = [ 2𝑇𝑇 ][ 3𝑇𝑇] = � �� �
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
𝐶𝐶12 −𝑆𝑆12 0 𝐿𝐿1 𝐶𝐶𝜃𝜃1 + 𝐿𝐿2 𝐶𝐶12
0 𝑆𝑆12 𝐶𝐶12 0 𝐿𝐿1 𝑆𝑆𝜃𝜃1 + 𝐿𝐿2 𝑆𝑆12
3𝑇𝑇 = � �
0 0 1 0
0 0 0 1
Matriz cinemática de rotación para el último eslabón con respecto a la tierra.
Ejercicio 2: Desarrollar la matriz cinemática 03𝑇𝑇 para el mecanismo RRR
Paso 1: Marcos de Referencia

Paso 2: Parámetros DH

i 𝑎𝑎𝑖𝑖−1 ∝𝑖𝑖−1 𝑑𝑑𝑖𝑖 𝜃𝜃𝑖𝑖

1 0 0 0 𝜃𝜃1
2 0 -90 𝐿𝐿1 𝜃𝜃2
3 𝐿𝐿2 0 0 𝜃𝜃3

Paso 3: Matrices de rotación

𝐶𝐶𝜃𝜃𝜃𝜃 −𝑆𝑆𝜃𝜃𝜃𝜃 0 𝑎𝑎𝑖𝑖−1

𝑖𝑖−1 𝑆𝑆𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 −𝑆𝑆𝛼𝛼𝛼𝛼−1 −𝑑𝑑𝑖𝑖 𝑆𝑆𝛼𝛼𝛼𝛼−1
𝑖𝑖 𝑇𝑇 = � �
𝑆𝑆𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝑑𝑑𝑖𝑖 𝐶𝐶𝛼𝛼𝛼𝛼−1
0 0 0 1
𝐶𝐶𝜃𝜃1 −𝑆𝑆𝜃𝜃1 0 0 𝐶𝐶𝜃𝜃2 −𝑆𝑆𝜃𝜃2 0 0 𝐶𝐶 𝜃𝜃3 −𝑆𝑆𝜃𝜃3 0 𝐿𝐿2
= �𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃1 = �𝑆𝑆𝜃𝜃3
0 0 0� 1 0 0 1 𝐿𝐿1 2 𝐶𝐶 𝜃𝜃3 0 0�
1𝑇𝑇 2𝑇𝑇 = � � 3𝑇𝑇
0 0 1 0 −𝑆𝑆𝜃𝜃2 −𝐶𝐶𝜃𝜃2 0 0 0 0 1 0
0 0 0 1 0 0 0 1 0 0 0 1
Paso 4: Multiplicar matrices

[ 01𝑇𝑇][ 12𝑇𝑇 ][ 23𝑇𝑇 ]

𝐶𝐶11 = 𝐹𝐹1 ∗ 𝐶𝐶1 = 𝐶𝐶𝜃𝜃1 ∗ 𝐶𝐶𝜃𝜃2 + 0 + 0 + 0 = 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2

𝐶𝐶12 = 𝐹𝐹1 ∗ 𝐶𝐶2 = 𝐶𝐶𝜃𝜃1 ∗ −𝑆𝑆𝜃𝜃2 + 0 + 0 + 0 = −𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2
𝐶𝐶13 = 𝐹𝐹1 ∗ 𝐶𝐶3 = 0 − 𝑆𝑆𝜃𝜃1 + 0 + 0 = −𝑆𝑆𝜃𝜃1
𝐶𝐶14 = 𝐹𝐹1 ∗ 𝐶𝐶4 = 0 − 𝑆𝑆𝜃𝜃1 ∗ 𝐿𝐿1 + 0 + 0 = −𝑆𝑆𝜃𝜃1 𝐿𝐿1

𝐶𝐶21 = 𝐹𝐹2 ∗ 𝐶𝐶1 = 𝑆𝑆𝜃𝜃1 ∗ 𝐶𝐶𝜃𝜃2 + 0 + 0 + 0 = 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2

𝐶𝐶22 = 𝐹𝐹2 ∗ 𝐶𝐶2 = 𝑆𝑆𝜃𝜃1 ∗ −𝑆𝑆𝜃𝜃2 + 0 + 0 + 0 = −𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2
𝐶𝐶23 = 𝐹𝐹2 ∗ 𝐶𝐶3 = 0 + 𝐶𝐶𝜃𝜃1 + 0 + 0 = 𝐶𝐶𝜃𝜃1
𝐶𝐶24 = 𝐹𝐹2 ∗ 𝐶𝐶4 = 0 + 𝐶𝐶𝜃𝜃1 ∗ 𝐿𝐿1 + 0 + 0 = 𝐶𝐶𝜃𝜃1 𝐿𝐿1

𝐶𝐶31 = 𝐹𝐹3 ∗ 𝐶𝐶1 = 0 + 0 + −𝑆𝑆𝜃𝜃2 + 0 = −𝑆𝑆𝜃𝜃2

𝐶𝐶32 = 𝐹𝐹3 ∗ 𝐶𝐶2 = 0 + 0 + −𝐶𝐶𝜃𝜃2 + 0 = −𝐶𝐶𝜃𝜃2
𝐶𝐶33 = 𝐹𝐹3 ∗ 𝐶𝐶3 = 0 + 0 + 0 + 0 = 0
𝐶𝐶34 = 𝐹𝐹3 ∗ 𝐶𝐶4 = 0 + 0 + 0 + 0 = 0

𝐶𝐶𝜃𝜃 𝐶𝐶𝜃𝜃
⎡ 1 2 −𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 −𝑆𝑆𝜃𝜃1 −𝑆𝑆𝜃𝜃1 𝐿𝐿1⎤ 𝐶𝐶 𝜃𝜃3 −𝑆𝑆𝜃𝜃3 0 𝐿𝐿2
0 1
1𝑇𝑇 ∗ 2𝑇𝑇 =
⎢ 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 −𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃1 𝐿𝐿1 ⎥ 2
3𝑇𝑇 = �𝑆𝑆𝜃𝜃3 𝐶𝐶 𝜃𝜃3 0 0�
⎢ −𝑆𝑆𝜃𝜃2 −𝐶𝐶𝜃𝜃2 0 0 ⎥ 0 0 1 0
⎣ 0 0 0 1 ⎦ 0 0 0 1

𝐶𝐶11 = 𝐹𝐹1 ∗ 𝐶𝐶1 = 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 ∗ 𝐶𝐶𝜃𝜃3 − 𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 ∗ 𝑆𝑆𝜃𝜃3 + 0 + 0

= 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐶𝐶𝜃𝜃3 − 𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝑆𝑆𝜃𝜃3
𝐶𝐶12 = 𝐹𝐹1 ∗ 𝐶𝐶2 = −𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝑆𝑆𝜃𝜃3 − 𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3 + 0 + 0
= −𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝑆𝑆𝜃𝜃2 − 𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3
𝐶𝐶13 = 𝐹𝐹1 ∗ 𝐶𝐶3 = 0 + 0 − 𝑆𝑆𝜃𝜃1 + 0 = −𝑆𝑆𝜃𝜃1
𝐶𝐶14 = 𝐹𝐹1 ∗ 𝐶𝐶4 = 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐿𝐿2 + 0 + 0 − 𝑆𝑆𝜃𝜃1 𝐿𝐿1 = 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐿𝐿2 − 𝑆𝑆𝜃𝜃1 𝐿𝐿1
 𝐶𝐶21 = 𝐹𝐹2 ∗ 𝐶𝐶1 = 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐶𝐶𝜃𝜃3 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝑆𝑆𝜃𝜃3 + 0 + 0
= 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐶𝐶𝜃𝜃3 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝑆𝑆𝜃𝜃3
𝐶𝐶22 = 𝐹𝐹2 ∗ 𝐶𝐶2 = −𝑆𝑆𝜃𝜃3 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3 + 0 + 0
= −𝑆𝑆𝜃𝜃3 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3
𝐶𝐶23 = 𝐹𝐹2 ∗ 𝐶𝐶3 = 0 + 0 + 𝐶𝐶𝜃𝜃1 + 0 = 𝐶𝐶𝜃𝜃1
𝐶𝐶24 = 𝐹𝐹2 ∗ 𝐶𝐶4 = 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐿𝐿2 + 0 + 0 + 𝐶𝐶𝜃𝜃1 𝐿𝐿1 = 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐿𝐿2 + 𝐶𝐶𝜃𝜃1 𝐿𝐿1

𝐶𝐶31 = 𝐹𝐹3 ∗ 𝐶𝐶1 = −𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3 + 𝐶𝐶𝜃𝜃2 𝑆𝑆𝜃𝜃3 + 0 + 0 = −𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3 + 𝐶𝐶𝜃𝜃2 𝑆𝑆𝜃𝜃3
𝐶𝐶32 = 𝐹𝐹3 ∗ 𝐶𝐶2 = 𝑆𝑆𝜃𝜃3 𝑆𝑆𝜃𝜃2 + 𝐶𝐶𝜃𝜃2 𝐶𝐶𝜃𝜃3 + 0 + 0 = 𝑆𝑆𝜃𝜃3 𝑆𝑆𝜃𝜃2 + 𝐶𝐶𝜃𝜃2 𝐶𝐶𝜃𝜃3
𝐶𝐶33 = 𝐹𝐹3 ∗ 𝐶𝐶3 = 0 + 0 + 0 + 0 = 0
𝐶𝐶34 = 𝐹𝐹3 ∗ 𝐶𝐶4 = −𝑆𝑆𝜃𝜃2 𝐿𝐿2 + 0 + 0 + 0 = −𝑆𝑆𝜃𝜃2 𝐿𝐿2

𝐶𝐶𝜃𝜃 𝐶𝐶𝜃𝜃 𝐶𝐶𝜃𝜃 − 𝐶𝐶𝜃𝜃 𝑆𝑆𝜃𝜃 𝑆𝑆𝜃𝜃

⎡ 1 2 3 1 2 3 −𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 − 𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3 −𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐿𝐿2 − 𝑆𝑆𝜃𝜃1 𝐿𝐿1⎤
0 𝑆𝑆𝜃𝜃
=⎢ 1 2 3𝐶𝐶𝜃𝜃 𝐶𝐶𝜃𝜃 − 𝑆𝑆𝜃𝜃 1 𝑆𝑆𝜃𝜃 2 𝑆𝑆𝜃𝜃 3 −𝑆𝑆𝜃𝜃3 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 − 𝑆𝑆𝜃𝜃1 𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3 𝐶𝐶𝜃𝜃1 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃2 𝐿𝐿2 + 𝐶𝐶𝜃𝜃1 𝐿𝐿1⎥
3𝑇𝑇
⎢ −𝑆𝑆𝜃𝜃2 𝐶𝐶𝜃𝜃3 − 𝐶𝐶𝜃𝜃2 𝑆𝑆𝜃𝜃3 𝑆𝑆𝜃𝜃3 𝑆𝑆𝜃𝜃2 − 𝐶𝐶𝜃𝜃2 𝐶𝐶𝜃𝜃3 0 −𝑆𝑆𝜃𝜃2 𝐿𝐿2 ⎥
⎣ 0 0 0 1 ⎦
Ejercicio 3: Desarrollar la matriz cinemática 03𝑇𝑇 para el mecanismo RPP
Paso 1: Marcos de Referencia

Paso 2: Parámetros DH
𝒊𝒊−𝟏𝟏
i ai-1 𝒊𝒊𝑻𝑻
αi-1 d1 Θi
0
1 0 0 0 Θ1 1𝑇𝑇
1
2 0 0 d2 0 2𝑇𝑇
2
3 4 -90 d3+2 0 3𝑇𝑇
Paso 3: Matrices de rotación

𝐶𝐶𝜃𝜃𝜃𝜃 −𝑆𝑆𝜃𝜃𝜃𝜃 0 𝑎𝑎𝑖𝑖−1

𝑖𝑖−1 𝑆𝑆𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 −𝑆𝑆𝛼𝛼𝛼𝛼−1 −𝑑𝑑𝑖𝑖 𝑆𝑆𝛼𝛼𝛼𝛼−1
𝑖𝑖 𝑇𝑇 = � �
𝑆𝑆𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝑑𝑑𝑖𝑖 𝐶𝐶𝛼𝛼𝛼𝛼−1
0 0 0 1
Matriz A Matriz B Matriz C
𝐶𝐶𝜃𝜃1 −𝑆𝑆𝜃𝜃1 0 0 1 0 0 0 1 0 0 4
0 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃1 0 0 1 0 1 0 0 2 0 0 1 (𝑑𝑑3 + 2)
1𝑇𝑇 = � � 2𝑇𝑇 = � � 3𝑇𝑇 = � �
0 0 1 0 0 0 1 𝑑𝑑2 0 −1 0 0
0 0 0 1 0 0 0 1 0 0 0 1
Paso 4: Multiplicar matrices [ 01𝑇𝑇][ 12𝑇𝑇 ][ 23𝑇𝑇 ]
[ 01𝑇𝑇][ 12𝑇𝑇 ]
𝐶𝐶1,1 = 𝐹𝐹1,𝐴𝐴 ∗ 𝐶𝐶1,𝐵𝐵 = 𝐶𝐶𝜃𝜃1 (1) − 𝑆𝑆𝜃𝜃1 (0) + 0 + 0 = 𝐶𝐶𝜃𝜃1
𝐶𝐶1,2 = 𝐹𝐹1,𝐴𝐴 ∗ 𝐶𝐶2,𝐵𝐵 = 𝐶𝐶𝜃𝜃1 (0) − 𝑆𝑆𝜃𝜃1 (1) + 0 + 0 = −𝑆𝑆𝜃𝜃1
𝐶𝐶1,3 = 𝐹𝐹1,𝐴𝐴 ∗ 𝐶𝐶3,𝐵𝐵 = 𝐶𝐶𝜃𝜃1 (0) − 𝑆𝑆𝜃𝜃1 (0) + 0 + 0 = 0
𝐶𝐶1,4 = 𝐹𝐹1,𝐴𝐴 ∗ 𝐶𝐶4,𝐵𝐵 = 𝐶𝐶𝜃𝜃1 (0) − 𝑆𝑆𝜃𝜃1 (0) + 0(𝑑𝑑2 ) + 0(1) = 0

𝐶𝐶2,1 = 𝐹𝐹2,𝐴𝐴 ∗ 𝐶𝐶1,𝐵𝐵 = 𝑆𝑆𝜃𝜃1 (1) + 𝐶𝐶𝜃𝜃1 (0) + 0 + 0 = 𝑆𝑆𝜃𝜃1

𝐶𝐶2,2 = 𝐹𝐹2,𝐴𝐴 ∗ 𝐶𝐶2,𝐵𝐵 = 𝑆𝑆𝜃𝜃1 (0) + 𝐶𝐶𝜃𝜃1 (1) + 0 + 0 = 𝐶𝐶𝜃𝜃1
𝐶𝐶2,3 = 𝐹𝐹2,𝐴𝐴 ∗ 𝐶𝐶3,𝐵𝐵 = 𝑆𝑆𝜃𝜃1 (0) + 𝐶𝐶𝜃𝜃1 (0) + 0(1)+0 = 0
𝐶𝐶2,4 = 𝐹𝐹2,𝐴𝐴 ∗ 𝐶𝐶4,𝐵𝐵 = 𝑆𝑆𝜃𝜃1 (0) + 𝐶𝐶𝜃𝜃1 (0) + 0(𝑑𝑑2 ) + 0 = 0

𝐶𝐶3,1 = 𝐹𝐹3,𝐴𝐴 ∗ 𝐶𝐶1,𝐵𝐵 = (0)(1) + (0)(0) + (1)(0) + 0 = 0

𝐶𝐶3,1 = 𝐹𝐹3,𝐴𝐴 ∗ 𝐶𝐶2,𝐵𝐵 = (0)(0) + (0)(1) + (1)(0) + 0 = 0
𝐶𝐶3,1 = 𝐹𝐹3,𝐴𝐴 ∗ 𝐶𝐶3,𝐵𝐵 = (0)(0) + (0)(0) + (1)(1) + 0 = 1
𝐶𝐶3,1 = 𝐹𝐹3,𝐴𝐴 ∗ 𝐶𝐶4,𝐵𝐵 = (0)(0) + (0)(0) + (1)(𝑑𝑑2 ) + 0(1) = 𝑑𝑑2
 𝐶𝐶4,1 = 𝐹𝐹4,𝐴𝐴 ∗ 𝐶𝐶1,𝐵𝐵 = (0)(1) + (0)(0) + (0)(0) + (1)(0) = 0
𝐶𝐶4,2 = 𝐹𝐹4,𝐴𝐴 ∗ 𝐶𝐶2,𝐵𝐵 = (0)(0) + (0)(1) + (0)(0) + (1)(0) = 0
𝐶𝐶4,3 = 𝐹𝐹4,𝐴𝐴 ∗ 𝐶𝐶3,𝐵𝐵 = (0)(0) + (0)(0) + (0)(1) + (1)(0) = 0
𝐶𝐶4,4 = 𝐹𝐹4,𝐴𝐴 ∗ 𝐶𝐶4,𝐵𝐵 = (0)(0) + (0)(0) + (0)(𝑑𝑑2 ) + (1)(1) = 1
𝐶𝐶𝜃𝜃1 −𝑆𝑆𝜃𝜃1 0 0
0 0 1 𝑆𝑆𝜃𝜃1 𝐶𝐶𝜃𝜃1 0 0
2𝑇𝑇 = [ 1𝑇𝑇][ 2𝑇𝑇 ] = � �
0 0 1 𝑑𝑑2
0 0 0 1

[ 02𝑇𝑇][ 23𝑇𝑇 ]
𝐶𝐶1,1 = 𝐹𝐹1,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶1,𝐶𝐶 = (𝐶𝐶𝜃𝜃1 )(1) − (𝑆𝑆𝜃𝜃1 )(0) + (0)(0) + (0)(0) = 𝐶𝐶𝜃𝜃1
𝐶𝐶1,2 = 𝐹𝐹1,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶2,𝐶𝐶 = (𝐶𝐶𝜃𝜃1 )(0) − (𝑆𝑆𝜃𝜃1 )(0) + (0)(−1) + (0)(0) = 0
𝐶𝐶1,3 = 𝐹𝐹1,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶3,𝐶𝐶 = (𝐶𝐶𝜃𝜃1 )(0) − (𝑆𝑆𝜃𝜃1 )(1) + (0)(0) + (0)(0) = −𝑆𝑆𝜃𝜃1
𝐶𝐶1,4 = 𝐹𝐹1,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶4,𝐶𝐶 = (𝐶𝐶𝜃𝜃1 )(4) − (𝑆𝑆𝜃𝜃1 )(𝑑𝑑3 + 2) + (0)(0) + (0)(1)
= − (𝑑𝑑3 + 2)𝑆𝑆𝜃𝜃1 + 4(𝐶𝐶𝜃𝜃1 )

𝐶𝐶2,1 = 𝐹𝐹2,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶1,𝐶𝐶 = (𝑆𝑆𝜃𝜃1 )(1) + (𝐶𝐶𝜃𝜃1 )(0) + (0)(0) + (0)(0) = 𝑆𝑆𝜃𝜃1
𝐶𝐶2,2 = 𝐹𝐹2,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶2,𝐶𝐶 = (𝑆𝑆𝜃𝜃1 )(0) + (𝐶𝐶𝜃𝜃1 )(0) + (0)(0) + (0)(0) = 0
𝐶𝐶2,3 = 𝐹𝐹2,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶3,𝐶𝐶 = (𝑆𝑆𝜃𝜃1 )(0) + (𝐶𝐶𝜃𝜃1 )(1) + (0)(0) + (0)(0) = 𝐶𝐶𝜃𝜃1
𝐶𝐶2,4 = 𝐹𝐹2,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶4,𝐶𝐶 = (𝑆𝑆𝜃𝜃1 )(4) + (𝐶𝐶𝜃𝜃1 )(𝑑𝑑3 + 2) + (0)(0) + (0)(1) =
4𝑆𝑆𝜃𝜃1+ (𝑑𝑑3 + 2)𝐶𝐶𝜃𝜃1

𝐶𝐶3,1 = 𝐹𝐹3,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶1,𝐶𝐶 = (0)(1) + (0)(0) + (1)(0) + (𝑑𝑑2 )(0) = 0

𝐶𝐶3,2 = 𝐹𝐹3,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶2,𝐶𝐶 = (0)(0) + (0)(0) + (1)(−1) + (𝑑𝑑2 )(0) = −1
𝐶𝐶3,3 = 𝐹𝐹3,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶3,𝐶𝐶 = (0)(0) + (0)(1) + (1)(0) + (𝑑𝑑2 )(0) = 0
𝐶𝐶3,4 = 𝐹𝐹3,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶4,𝐶𝐶 = (0)(4) + (0)(𝑑𝑑3 + 2) + (1)(0) + (𝑑𝑑2 )(1) = 𝑑𝑑2
 𝐶𝐶4,1 = 𝐹𝐹4,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶1,𝐶𝐶 = (0)(1) + (0)(0) + (0)(0) + (1)(0) = 0
𝐶𝐶4,2 = 𝐹𝐹4,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶2,𝐶𝐶 = (0)(0) + (0)(0) + (0)(−1) + (1)(0) = 0
𝐶𝐶4,3 = 𝐹𝐹4,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶3,𝐶𝐶 = (0)(0) + (0)(1) + (0)(0) + (1)(0) = 0
𝐶𝐶4,4 = 𝐹𝐹4,𝐴𝐴𝐴𝐴 ∗ 𝐶𝐶4,𝐶𝐶 = (0)(4) + (0)(𝑑𝑑3 + 2) + (0)(0) + (1)(1) = 1

𝐶𝐶𝜃𝜃1 0 −𝑆𝑆𝜃𝜃1 4(𝐶𝐶𝜃𝜃1 ) − (𝑑𝑑3 + 2)𝑆𝑆𝜃𝜃1

0 0 2 𝑆𝑆𝜃𝜃1 0 𝐶𝐶𝜃𝜃1 4𝑆𝑆𝜃𝜃1 + (𝑑𝑑3 + 2)𝐶𝐶𝜃𝜃1
3𝑇𝑇 = [ 2𝑇𝑇 ][ 3𝑇𝑇] = � �
0 −1 0 𝑑𝑑2
0 0 0 1
Ejercicio 4: Desarrollar la matriz cinemática 03𝑇𝑇 para el mecanismo RPR

Paso 1: Marcos de Referencia

Paso 2: Parámetros DH

i 𝒂𝒂𝒊𝒊−𝟏𝟏 𝜶𝜶𝒊𝒊−𝟏𝟏 𝒅𝒅𝒊𝒊 𝜽𝜽𝒊𝒊

1 0 0 0 𝜃𝜃1
2 a 90 d 0
3 0 0 D 𝜃𝜃3

Paso 3: Matrices de rotación

 𝐶𝐶𝜃𝜃𝜃𝜃 −𝑆𝑆𝜃𝜃𝜃𝜃 0 𝑎𝑎𝑖𝑖−1
𝑖𝑖−1 𝑆𝑆𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝐶𝐶𝛼𝛼𝛼𝛼−1 −𝑆𝑆𝛼𝛼𝛼𝛼−1 −𝑑𝑑𝑖𝑖 𝑆𝑆𝛼𝛼𝛼𝛼−1
𝑖𝑖 𝑇𝑇 = � �
𝑆𝑆𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝜃𝜃𝜃𝜃 𝑆𝑆𝛼𝛼𝛼𝛼−1 𝐶𝐶𝛼𝛼𝛼𝛼−1 𝑑𝑑𝑖𝑖 𝐶𝐶𝛼𝛼𝛼𝛼−1
0 0 0 1
𝐶𝐶𝐶𝐶1 −𝑆𝑆𝑆𝑆1 0 0
0 𝑆𝑆𝑆𝑆 𝐶𝐶𝐶𝐶1 0 0
𝑇𝑇 = � 1 �
1 0 0 1 0
0 0 0 1
1 0 0 𝑎𝑎
1 0 0 −1 −𝑑𝑑
𝑇𝑇 = � �
2 0 1 0 0
0 0 0 1
𝐶𝐶𝐶𝐶3 −𝑆𝑆𝑆𝑆3 0 0
2 𝑆𝑆𝑆𝑆 𝐶𝐶𝐶𝐶3 0 0
𝑇𝑇 = � 3 �
3 0 0 1 𝐷𝐷
0 0 0 1

Paso 4: Multiplicar matrices

[ 01𝑇𝑇][ 12𝑇𝑇 ][ 23𝑇𝑇 ]

𝐶𝐶11 = 𝐹𝐹1 ∗ 𝐶𝐶1 = 𝐶𝐶𝐶𝐶1 + 0 + 0 + 0 = 𝐶𝐶𝐶𝐶1

𝐶𝐶12 = 𝐹𝐹1 ∗ 𝐶𝐶2 = 0

𝐶𝐶13 = 𝐹𝐹1 ∗ 𝐶𝐶3 = 0 −𝑆𝑆𝑆𝑆1 + 0 + 0 = −𝑆𝑆𝑆𝑆1

𝐶𝐶14 = 𝐹𝐹1 ∗ 𝐶𝐶4 = 𝐶𝐶𝐶𝐶1 𝑎𝑎 −𝑆𝑆𝑆𝑆1 𝑑𝑑 + 0 + 0 = 𝐶𝐶𝐶𝐶1 𝑎𝑎 −𝑆𝑆𝑆𝑆1 𝑑𝑑

𝐶𝐶𝐶𝐶1 0 −𝑆𝑆𝑆𝑆1 𝐶𝐶𝐶𝐶1 𝑎𝑎 −𝑆𝑆𝑆𝑆1 𝑑𝑑

0 0 1
𝑇𝑇 = � 1𝑇𝑇� � 2𝑇𝑇� = � �
2

𝐶𝐶21 = 𝐹𝐹2 ∗ 𝐶𝐶1 = 𝑆𝑆𝑆𝑆1 + 0 + 0 + 0 = 𝑆𝑆𝑆𝑆1

𝐶𝐶22 = 𝐹𝐹2 ∗ 𝐶𝐶2 = 0
𝐶𝐶23 = 𝐹𝐹2 ∗ 𝐶𝐶3 = 0 + 𝐶𝐶𝐶𝐶1 + 0 + 0 = 𝐶𝐶𝐶𝐶1

𝐶𝐶24 = 𝐹𝐹2 ∗ 𝐶𝐶4 = 𝑆𝑆𝑆𝑆1 𝑎𝑎 + 𝐶𝐶𝐶𝐶1 𝐷𝐷 + 0 + 0 = 𝑆𝑆𝑆𝑆1 𝑎𝑎 + 𝐶𝐶𝜃𝜃1 𝑑𝑑

 𝐶𝐶𝐶𝐶1 0 −𝑆𝑆𝑆𝑆1 𝐶𝐶𝐶𝐶1 𝑎𝑎 −𝑆𝑆𝑆𝑆1 𝑑𝑑
0 0 1 𝑆𝑆𝑆𝑆 0 𝐶𝐶𝐶𝐶1 𝑆𝑆𝑆𝑆1 𝑎𝑎 + 𝐶𝐶𝐶𝐶1 𝑑𝑑
𝑇𝑇 = � 1𝑇𝑇� � 2𝑇𝑇� = � 1 �
2

𝐶𝐶31 = 𝐹𝐹3 ∗ 𝐶𝐶1 = 0

𝐶𝐶32 = 𝐹𝐹3 ∗ 𝐶𝐶2 = −1

𝐶𝐶33 = 𝐹𝐹3 ∗ 𝐶𝐶3 = 0

𝐶𝐶34 = 𝐹𝐹3 ∗ 𝐶𝐶4 = 0 + 0 + 0 + 0 = 0

𝐶𝐶𝐶𝐶1 0 −𝑆𝑆𝑆𝑆1 𝐶𝐶𝐶𝐶1 𝑎𝑎 −𝑆𝑆𝑆𝑆1 𝑑𝑑

0 0 1 𝑆𝑆𝑆𝑆 0 𝐶𝐶𝐶𝐶1 𝑆𝑆𝑆𝑆1 𝑎𝑎 + 𝐶𝐶𝐶𝐶1 𝑑𝑑
𝑇𝑇 = � 1𝑇𝑇� � 2𝑇𝑇� = � 1 �
2 0 −1 0 0
0 0 0 1

𝐶𝐶𝐶𝐶1 0 −𝑆𝑆𝑆𝑆1 𝐶𝐶𝐶𝐶1 𝑎𝑎 −𝑆𝑆𝑆𝑆1 𝑑𝑑 𝐶𝐶𝐶𝐶3 −𝑆𝑆𝑆𝑆3 0 0

𝑆𝑆𝑆𝑆 0 𝐶𝐶𝐶𝐶1 𝑆𝑆𝑆𝑆1 𝑎𝑎 + 𝐶𝐶𝐶𝐶1 𝑑𝑑 𝑆𝑆𝑆𝑆3 𝐶𝐶𝐶𝐶3 0 0
=� 1 �� �
0 −1 0 0 0 0 1 𝐷𝐷
0 0 0 1 0 0 0 1

𝐶𝐶𝐶𝐶1 𝐶𝐶𝐶𝐶3 −𝐶𝐶𝐶𝐶1 𝑆𝑆𝑆𝑆3 −𝑆𝑆𝑆𝑆1 −𝐷𝐷𝑆𝑆𝑆𝑆1 +𝐶𝐶𝐶𝐶1 𝑎𝑎 −𝑆𝑆𝑆𝑆1 𝑑𝑑

𝑆𝑆𝑆𝑆 𝐶𝐶𝐶𝐶 −𝑆𝑆𝑆𝑆1 𝑆𝑆𝑆𝑆3 𝐶𝐶𝐶𝐶1 𝐷𝐷𝐶𝐶𝐶𝐶1 +𝑆𝑆𝑆𝑆1 𝑎𝑎 −𝐶𝐶𝐶𝐶1 𝑑𝑑
=� 1 3 �
−𝑆𝑆𝑆𝑆3 −𝐶𝐶𝐶𝐶3 0 0
0 0 0 1