UNIVERSIDAD TECMILENIO

BACHELOR’S DEGREE

MECHATRONICS ENGINEERING

ROBOTICS

ACTIVITY #5

(MOTIONS ALONG DIFFERENT AXES)

ELABORATED BY: BRYAN HOMERO BORUNDA

ADVISED POR: MIGUEL ALEJANDRO CÁRDENAS REQUENA

CHIHUAHUA, CHIHUAHUA, SEPTEMBER 11th, 2023

 MOTIONS ALONG DIFFERENT AXES

Description:

Description of the activity:

The student will learn to use the computer software to display robot motions.

Activity objective:

To perform simulations to observe motions at each section of the mechanism.

Requirements for the activity:

RoboAnalyzer: http://www.roboanalyzer.com/

Student instructions:

● Go to the website: http://www.roboanalyzer.com/Links to an external site.

● Then, go to the downloads section and download the latest version.
● Open RoboAnalyzer.
● Watch the tutorial Overview and DH Parameters Visualization.
● Perform a simulation of a mechanical arm based on the video explanation, analyzing
the use of the software and its different options.
● Write a report with evidence of two different sections with their respective
Denavit-Hartenberg matrix and indicating the degrees of freedom of the mechanism.
● Include in the report some screenshots of the mechanism of your simulation,
identifying its degrees of freedom.

Deliverable:

● Electronic document covering the guidelines instructed.

Development

Getting used to the program, analyzing the different options and recognizing commands. We
can observe that this simulation is going to be based in three joints, we can identify them
because of the axes into the (robot).

Changing lengths and initialization preestablished simulations

Comparison initial-end coordinates of Denavit-Hartenberg matrix.

Video of the simulation where we can see the movement of the axes and the changing values
of the matrix.

https://drive.google.com/file/d/1mCEUoy6F2W9vwDLln69XMNbpWw9asStq/view?usp=sh
aring
For the next simulation, I selected the robot FanucR200i. We can identify 6 degrees of
freedom, with all joints performing rotational movements, since every single one of them
rotates over their axe.

In the inferior corner of the following image, we can see Denavit-Hartenberg matrix. Where
we can see the end position of the robots’ simulation

In the next video the robot will perform the simulation where we can see how it moves and
how the values of the matrix changes.

https://drive.google.com/file/d/1wTGMIVPRE4FXRhdl6f821URJPF5cERBJ/view?usp=shari
ng
Conclusion

This activity was fascinating, since we could apply almost all the learnings of the first module
of robotics. I appreciate the fact that this program is friendly to the user, even though I didn't
have experience managing this program I could find out all what I needed to perform the
simulation.

I look forward to keep developing interesting and useful activities as I did this activity before
the exam, it was a great way to study the DOF and movement types.