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Manipulator_Kinematic_Model

Algorithm for all kinematic models of NaiweiRobot

1. ECR-本体4轴-J2J3有耦合



2. ECR-本体4轴-J2J3无耦合



3. ECR-本体6轴-L型手腕-J2J3有耦合




注:请留意d4取值的正负。若俯视图如上,d4取正值。

4. ECR-本体6轴-L型手腕-J2J3无耦合



5. ECR-本体6轴-球型手腕-J2J3有耦合



注:零位姿态,需调整J5轴使得法兰面正对底面平面,其他部分与DH参数示意图一致。

6. SAR-本体4轴



7. SAR-本体6轴-L型手腕



注:该机型最终实际按本体4轴+附加2轴处理。

8. SCH-本体4轴-RPRR构型



9. SCH-本体4轴-RPPR构型



10. SCH-本体5轴-RPPPR构型



11. STC-本体4轴-RPPR构型



12. SCD-本体4轴-PRRR构型




13. SC-本体3轴-RPP构型



14. SC-本体4轴-RPRR构型



15. SRL-本体4轴-PRRR构型



注:a1可以写0。零位姿态,J1不做要求,J2、J3、J4应保证大小臂处于完全竖直且重叠位置。

16. QR-本体6轴-L型手腕



17. SCARA-本体4轴-RRPR结构 丝杆花键一体型



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