xArm 5 Lite的运动学和动力学参数

xArm 5 Lite

xArm 5 Lite的运动学和动力学参数

1.改进DH参数

Kinematics	theta (rad)	d(mm)	alpha(rad)	a(mm)	offset(rad)
Joint1	0	267	0	0	0
Joint2	0	0	-pi/2	0	T2_offset
Joint3	0	0	0	a2	T3_offset
Joint4	0	0	0	a3	T4_offset
Joint5	0	97	-pi/2	0	0

2.标准DH参数

Kinematics	theta(rad)	d(mm)	alpha(rad)	a(mm)	offset(rad)
Joint1	0	267	-pi/2	0	0
Joint2	0	0	0	a2	T2_offset
Joint3	0	0	0	a3	T3_offset
Joint4	0	0	-pi/2	76	T4_offset
Joint5	0	97	0	0	0

‘Tx_offset’ ’ 是从数学零位到图中所示的机械零位的偏移关节角度。

T2_offset = -atan(284.5/53.5) = -1.3849179 (-79.34995°);

T3_offset = atan(284.5/53.5)+atan(0.3425/0.0775) = 2.7331843 (156.599924°);

a2 = sqrt(284.5^2+53.52) = 289.48866;

T4_offset = -atan(342.5/77.5) = -1.3482664 (-77.249974°);

a3 = sqrt(77.5^2+342.52) = 351.158796;

3.质量参数

xArm 5 Lite - 模型1

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.177	[0.15, 27.24, -13.75]
Link2	2.011	[36.7, -220.9, 33.56]
Link3	2.01	[68.34, 223.66, 1.1]
Link4	1.206	[63.87, 29.3, 3.5]
Link5	0.17	[0.0, -6.77, -10.98]

xArm 5 Lite - 模型2

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.46	[0.13, 30.1, -12.0]
Link2	2.21	[38.2, -226.6, 34.7]
Link3	2.16	[69.0, 231.8, 1.0]
Link4	1.354	[65.2, 31.8, 3.11]
Link5	0.17	[0.0, -6.77, -10.98]

xArm 5 Lite - 模型3

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.382	[0.13, 29.4, -12.4]
Link2	2.164	[37.88, -225.4, 34.47]
Link3	2.121	[68.83, 229.85, 1.02]
Link4	1.317	[64.9, 31.2, 3.2]
Link5	0.17	[0.0, -6.77, -10.98]

xArm 5 Lite - 模型4

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.53	[-0.164, 35.94, -6.5]
Link2	2.242	[40.84, -240.3, 32.54]
Link3	2.24	[72.0, 236.3, 0.83]
Link4	1.345	[68.24, 33.42, 2.64]
Link5	0.173	[0.8, -3.59, -13.26]