xarm6的运动学和动力学参数

xArm6

xarm6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	342.5	-pi/2	77.5	0
Joint5	0	0	pi/2	0	0
Joint6	0	97	-pi/2	76	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	-pi/2	77.5	T3_offset
Joint4	0	342.5	pi/2	0	0
Joint5	0	0	-pi/2	76	0
Joint6	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。.

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

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

T3_offset = -T2_offset = 1.3849179 (79.34995°);

3.质量参数

xArm6 - 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	1.725	[69.77, 113.5, 11.6]
Link4	1.211	[-0.2, 20.0, 26.0]
Link5	1.206	[63.87, 29.3, 3.5]
Link6	0.17	[0.0, -6.77, -10.98]

xArm6 - 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	1.925	[70.6, 117.2, 10.4]
Link4	1.36	[0.18, 17.7, -23.0]
Link5	1.354	[65.2, 31.8, 3.11]
Link6	0.17	[0.0, -6.77, -10.98]

xArm6 - 模型3

Dynamics	Mass(kg)	Center of Mass(mm)
Link1	2.382	[0.13, 29.4, -12.4]
Link2	2.267	[38.8, -227.8, 34.96]
Link3	1.875	[70.4, 116.3, 10.7]
Link4	1.319	[-0.2, 18.0, -22.9]
Link5	1.34	[65.1, 30.96, 3.15]
Link6	0.17	[0.0, -6.77, -10.98]

xArm6 - 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	2.019	[71.4, 126.8, 10.9]
Link4	1.361	[0.185, 14.66, -21.97]
Link5	1.345	[68.24, 33.42, 2.64]
Link6	0.173	[0.8, -3.59, -13.26]