Michael Anachuna Curtis Moorefield Juan Ramirez TEAM 5

PROBLEM STATEMENT
Apply analysis on robot Technical data

Forward Kinematics
Velocity kinematics Singularity

Trajectory planning
design

Technical Data
DOF: 6 Axes:6 Payload: 16 kg, max 46kg

Weight 235 kg Max reach: 1611 mm Actuator: electric

Reachable work space

Dh parameters
i 1 2 3 4 5 6 i-1 0 90 0 90 90 90 ai-1 0 675 680 670 0 115 di 0 260 0 35 0 0 i 370 190 284 700 260 700

Singularity

shoulder

elbow

wrist

KINEMATIC ANALYSIS
Forward
0.5356 -0.7899 -0.0207 0 -0.5365 -0.5537 0.5617 0 -0.1561 0.1280 0.9794 0 -0.7350
4.6711

Velocity

-0.2303 -1.0661 1

10.5848 7.2827

Trajectory Planning link 1

70 60

Link 1

50
pos,vel,accel 40 position 30 20 10 velocity accel.

0 0
-10

4 time(sec)

10

Trajectory Planning link 2

140 120

Link 2

100
80 60 40 20 0 position veolcity

pos,vel,accel

accel.

0
-20

4
time(sec)

10

Trajectory Planning link 3

140
120 100 pos,vel,accel 80 position velocity accel. 40 20 0 0 -20 2 4 6 8 10 time(sec)

Link 3

60

DESIGN
Example
Kuka milling machine http://youtu.be/F-

Structural length index

m514fUXvM

Conclusion

Thank you
Any questions