robotica - cinematica
DESCRIPTION
RoboticaTRANSCRIPT
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Capítulo 3
Cinemática
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Articulacion lineal o prismática
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Articulación de giro
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Articulación planar: 2 lineales
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Articulación cilindrica: 1 giro, 1 lineal
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Articulación esférica: 3 giros en planos
perpendiculares
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Robot articulado: grados de libertad
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Ejes de coordenadas
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Robot cartesiano
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Robot cilindrico
1 rotación en la base
2 lineales
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Robot esferico
2 rotaciones y 1 lineal
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Robot articulado con 5 grados de libertad
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Robot SCARA
2 rotaciones paralelas
1 lineal
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Representación de la posición
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a) coordenadas cartesianas
2 dimensionesC b) coordenadas cartesianas
3 dimensiones
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a) coordenadas polares a) coordenadas cilíndricas
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a) coordenadas esféricas
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Matriz de rotación en 2 dimensiones
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Matriz de rotación en 3 dimensiones
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Matriz de rotación en 3 dimensiones
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Composición de rotaciones
Orden de la composición:
Rotación sobre OX
Rotación sobre YO
Rotación sobre OZ
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Ángulos de Euler
Girar el sistema OUVW un ángulo f con respecto al eje OZ,
convirtiéndose así en el OU'V'W'.
Girar el sistema OU'V'W' un ángulo q con respecto al eje OU',
convirtiéndose así en el OU''V''W''.
Girar el sistema OU''V''W'' un ángulo y respecto al eje OW''
convirtiéndose finalmente en el OU'''V'''W'''
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Roll, Pitch y Yaw
Girar el sistema OUVW un ángulo y con respecto al eje OX. (Yaw)
Girar el sistema OUVW un ángulo q con respecto al eje OY. (Pitch)
Girar el sistema OUVW un ángulo f con respecto al eje OZ. (Roll)
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Historia...
A modern reconstruction of the Chinese Wood Cow tha was designed and built
since Vth century B.C. (from Ancient Chinese Machines Foundation at National Cheng
Kung University in Tainan).
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Historia...
An Arabic design of an automaton by Al-Jazari in XIIth century
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Historia...
The writer automata by Jaquet-Droz in 1760:
a) the robot shape; b) the mechanisms
a) b)
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Historia...
The Japanese tea maidservant automaton whose design was developed in the
XVIIth century: a) a modern reconstruction; b) an original design scheme.
a) b)
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Historia...
El pato de Jacques de Vaucanson (1709-1782)
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Historia...
Walking robots: a) Honda robot built in 1993; b) Waseda robot version
of 1997; c) EP-WAR built in 1996.
(Photos are taken from web pages