603 lines
18 KiB
HTML
603 lines
18 KiB
HTML
<html><head><title>Robot 6-Axis/es</title><meta http-equiv="Content-Type" content="text/html; charset=utf-8"><link type='text/css' href='wiki.css' rel='stylesheet'></head><body><h1>Robot 6-Axis/es</h1></div>
|
||
|
||
<div id="mw-content-text" lang="es" dir="ltr" class="mw-content-ltr"><hr/><div class="mw-parser-output"><table class="fcinfobox wikitable ct" style="width: 230px; float: right; margin-left: 1em">
|
||
<tr>
|
||
<td class="ctTitle">
|
||
<h3><span class="mw-headline" id="Tutorial"><a href="https://www.freecadweb.org/wiki/index.php?title=File:Base_ExampleCommandModel.png" class="image"><img alt="Base ExampleCommandModel.png" src="32px-Base_ExampleCommandModel.png" width="32" height="30" srcset="/wiki/images/thumb/9/93/Base_ExampleCommandModel.png/48px-Base_ExampleCommandModel.png 1.5x, /wiki/images/9/93/Base_ExampleCommandModel.png 2x" /></a> Tutorial</span></h3>
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Tema
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">Robot Workbench
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Nivel
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">Intermediate
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Tiempo para completar
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">Unknown
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Autor
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Versión de FreeCAD
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Archivo(s) de ejemplo(s)
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">
|
||
</td></tr>
|
||
<tr>
|
||
<td class="ctToc"><br /><div id="toc" class="toc"><div class="toctitle"><h2>Contents</h2></div>
|
||
<ul>
|
||
<li class="toclevel-1"><a href="#Tutorial"><span class="tocnumber">1</span> <span class="toctext">Tutorial</span></a></li>
|
||
<li class="toclevel-1 tocsection-1"><a href="#Ejemplo_Kuka"><span class="tocnumber">2</span> <span class="toctext">Ejemplo Kuka</span></a>
|
||
<ul>
|
||
<li class="toclevel-2 tocsection-2"><a href="#Cinem.C3.A1tica"><span class="tocnumber">2.1</span> <span class="toctext">Cinemática</span></a></li>
|
||
<li class="toclevel-2 tocsection-3"><a href="#Representaci.C3.B3n_visual"><span class="tocnumber">2.2</span> <span class="toctext">Representación visual</span></a></li>
|
||
<li class="toclevel-2 tocsection-4"><a href="#KR_210"><span class="tocnumber">2.3</span> <span class="toctext">KR 210</span></a></li>
|
||
<li class="toclevel-2 tocsection-5"><a href="#KR_500"><span class="tocnumber">2.4</span> <span class="toctext">KR 500</span></a></li>
|
||
</ul>
|
||
</li>
|
||
</ul>
|
||
</div>
|
||
|
||
</td></tr></table>
|
||
<p><br />
|
||
</p><p>Este artículo trata sobre incluir en FreeCAD para su simulación un robot industrial estándar de 6 ejes
|
||
</p><p>La siguiente descripción sigue el sistema de <a rel="nofollow" class="external text" href="http://en.wikipedia.org/wiki/Denavit-Hartenberg_Parameters">parámetros Denavit-Hartenberg</a>, como también se describe en el libro de John J. Craigs "Introducción a la robótica".
|
||
</p>
|
||
<h2><span class="mw-headline" id="Ejemplo_Kuka">Ejemplo Kuka</span></h2>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>El Kuka KR-16</b>
|
||
|
||
</caption>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaKR16.jpg" class="image"><img alt="KukaKR16.jpg" src="KukaKR16.jpg" width="414" height="396" /></a>
|
||
</td>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaParts.jpg" class="image"><img alt="KukaParts.jpg" src="KukaParts.jpg" width="253" height="268" /></a>
|
||
</td>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaAxisPosition.jpg" class="image"><img alt="KukaAxisPosition.jpg" src="KukaAxisPosition.jpg" width="346" height="290" /></a>
|
||
</td></tr></table>
|
||
<h3><span class="mw-headline" id="Cinem.C3.A1tica">Cinemática</span></h3>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Aplicaciones 3D</b>
|
||
</caption>
|
||
<tr>
|
||
<th> Segmento
|
||
</th>
|
||
<th> Parámetro
|
||
</th>
|
||
<th> Descripción
|
||
</th></tr>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaBase.jpg" class="image"><img alt="KukaBase.jpg" src="KukaBase.jpg" width="223" height="250" /></a>
|
||
</td>
|
||
<td>
|
||
</td>
|
||
<td> Base de configuración
|
||
</td></tr>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment1.jpg" class="image"><img alt="KukaSegment1.jpg" src="KukaSegment1.jpg" width="223" height="238" /></a>
|
||
</td>
|
||
<td>
|
||
<p><math>\theta_{1} = q_{1}</math>
|
||
</p><p><math>d_{1} = 675 mm </math>
|
||
</p><p><math>a_{1} = 260 mm </math>
|
||
</p><p><math>\alpha_{1} = −90</math>°
|
||
</p>
|
||
</td>
|
||
<td> Segmento 1
|
||
</td></tr>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment2.jpg" class="image"><img alt="KukaSegment2.jpg" src="KukaSegment2.jpg" width="221" height="249" /></a>
|
||
</td>
|
||
<td>
|
||
<p><math>\theta_{2} = q_{2} - 90</math>°
|
||
</p><p><math>d_{2} = 0 mm </math>
|
||
</p><p><math>a_{2} = 680 mm </math>
|
||
</p><p><math>\alpha_{2} = 0</math>°
|
||
</p>
|
||
</td>
|
||
<td> Segmento 2
|
||
</td></tr>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment3.jpg" class="image"><img alt="KukaSegment3.jpg" src="KukaSegment3.jpg" width="221" height="255" /></a>
|
||
</td>
|
||
<td>
|
||
<p><math>\theta_{3} = q_{3} </math>
|
||
</p><p><math>d_{3} = 0 mm </math>
|
||
</p><p><math>a_{3} = 0 mm </math>
|
||
</p><p><math>\alpha_{3} = 90</math>°
|
||
</p>
|
||
</td>
|
||
<td> Segmento 3
|
||
</td></tr>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment4.jpg" class="image"><img alt="KukaSegment4.jpg" src="KukaSegment4.jpg" width="237" height="240" /></a>
|
||
</td>
|
||
<td>
|
||
<p><math>\theta_{4} = q_{4} </math>
|
||
</p><p><math>d_{4} = -670 mm </math>
|
||
</p><p><math>a_{4} = 0 mm </math>
|
||
</p><p><math>\alpha_{4} = -90</math>°
|
||
</p>
|
||
</td>
|
||
<td> Segmento 4
|
||
</td></tr>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment5.jpg" class="image"><img alt="KukaSegment5.jpg" src="KukaSegment5.jpg" width="221" height="233" /></a>
|
||
</td>
|
||
<td>
|
||
<p><math>\theta_{5} = q_{5} </math>
|
||
</p><p><math>d_{5} = 0 mm </math>
|
||
</p><p><math>a_{5} = 0 mm </math>
|
||
</p><p><math>\alpha_{5} = 90</math>°
|
||
</p>
|
||
</td>
|
||
<td> Segmento 5
|
||
</td></tr>
|
||
<tr>
|
||
<td> <a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaSegment6.jpg" class="image"><img alt="KukaSegment6.jpg" src="KukaSegment6.jpg" width="257" height="240" /></a>
|
||
</td>
|
||
<td>
|
||
<p><math>\theta_{6} = q_{6} </math>
|
||
</p><p><math>d_{6} = 0 mm </math>
|
||
</p><p><math>a_{6} = -158 mm </math>
|
||
</p><p><math>\alpha_{6} = 180</math>°
|
||
</p>
|
||
</td>
|
||
<td> Segmento 6
|
||
</td></tr></table>
|
||
<p>Esto conduce a la tabla siguiente:
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabla cinemática</b>
|
||
</caption>
|
||
<tr>
|
||
<th> <math>i</math> </th>
|
||
<th> <math>\theta</math> </th>
|
||
<th> <math>d</math> </th>
|
||
<th> <math>a</math> </th>
|
||
<th> <math>\alpha</math>
|
||
</th></tr>
|
||
<tr>
|
||
<td> 1 </td>
|
||
<td> q1 </td>
|
||
<td> 675 mm </td>
|
||
<td> 260 mm </td>
|
||
<td> -90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 2 </td>
|
||
<td> q2 - 90° </td>
|
||
<td> 0 mm </td>
|
||
<td> 680 mm </td>
|
||
<td> 0°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 3 </td>
|
||
<td> q3 </td>
|
||
<td> 0 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> 90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 4 </td>
|
||
<td> q4 </td>
|
||
<td> -670 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> -90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 5 </td>
|
||
<td> q5 </td>
|
||
<td> 0 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> 90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 6 </td>
|
||
<td> q6 </td>
|
||
<td> -158 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> 180°
|
||
</td></tr></table>
|
||
<p>Ya que los robots Kuka no tienen todos los ejes a 0 en la posición dibujada en L, tenemos que cambiar el eje 2 y 3 por 90°.
|
||
</p><p><br />
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabla cinemática</b>
|
||
</caption>
|
||
<tr>
|
||
<th> <math>i</math> </th>
|
||
<th> <math>\theta</math> </th>
|
||
<th> <math>d</math> </th>
|
||
<th> <math>a</math> </th>
|
||
<th> <math>\alpha</math>
|
||
</th></tr>
|
||
<tr>
|
||
<td> 1 </td>
|
||
<td> q1 </td>
|
||
<td> 675 mm </td>
|
||
<td> 260 mm </td>
|
||
<td> -90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 2 </td>
|
||
<td> q2 </td>
|
||
<td> 0 mm </td>
|
||
<td> 680 mm </td>
|
||
<td> 0°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 3 </td>
|
||
<td> q3 - 90° </td>
|
||
<td> 0 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> 90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 4 </td>
|
||
<td> q4 </td>
|
||
<td> -670 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> -90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 5 </td>
|
||
<td> q5 </td>
|
||
<td> 0 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> 90°
|
||
</td></tr>
|
||
<tr>
|
||
<td> 6 </td>
|
||
<td> q6 </td>
|
||
<td> -158 mm </td>
|
||
<td> 0 mm </td>
|
||
<td> 180°
|
||
</td></tr></table>
|
||
<p>En la hoja de datos encontramos información adicional sobre los ejes:
|
||
</p><p><a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaAxisData.jpg" class="image"><img alt="KukaAxisData.jpg" src="KukaAxisData.jpg" width="947" height="145" /></a>
|
||
</p><p>Lo que conduce a esta tabla completa:
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabla cinemática</b>
|
||
</caption>
|
||
<tr>
|
||
<th> <math>i</math> </th>
|
||
<th> <math>\theta</math> </th>
|
||
<th> <math>d</math> </th>
|
||
<th> <math>a</math> </th>
|
||
<th> <math>\alpha</math> </th>
|
||
<th> <math>\theta_{min}</math> </th>
|
||
<th> <math>\theta_{max}</math> </th>
|
||
<th> Axis Speed
|
||
</th></tr>
|
||
<tr>
|
||
<td> 1 </td>
|
||
<td> 0 </td>
|
||
<td> 675 </td>
|
||
<td> 260 </td>
|
||
<td> -90 </td>
|
||
<td> -185 </td>
|
||
<td> 185 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 2 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 680 </td>
|
||
<td> 0 </td>
|
||
<td> -155 </td>
|
||
<td> 35 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 3 </td>
|
||
<td> - 90 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 154 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 4 </td>
|
||
<td> 0 </td>
|
||
<td> -670 </td>
|
||
<td> 0 </td>
|
||
<td> -90 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 5 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 130 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 6 </td>
|
||
<td> 0 </td>
|
||
<td> -158 </td>
|
||
<td> 0 </td>
|
||
<td> 180 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 615
|
||
</td></tr></table>
|
||
<h3><span class="mw-headline" id="Representaci.C3.B3n_visual">Representación visual</span></h3>
|
||
<p>FreeCAD puede generar una basta representación visual de la tabla cinemática. Pero si quieres acercarte más a la realidad puedes utilizar un archivo VRML con la forma del robot para la simulación. Por ejemplo, <a rel="nofollow" class="external text" href="http://kuka.com">Kuka</a> proporciona archivos VRML de sus modelos. El archivo VRML es cargado con la especificación del robot en FreeCAD. Para permitir a FreeCAD mover los ejes tenemos que editar el archivo VRML e insertar nodos de transformación especiales que FreeCAD pueda encontrar y manipular.
|
||
</p><p>Otra vez mostrado por el ejemplo Kuka KR 16. Empezando desde la línea 1:
|
||
</p>
|
||
<pre>#VRML V2.0 utf8
|
||
#
|
||
# This VRML97 file was exported using eM-Workplace
|
||
# (c) Tecnomatix Technologies GmbH & Co. KG
|
||
# Heisenberg-Bogen 1
|
||
# D-85609 Aschheim-Dornach
|
||
# GERMANY
|
||
#
|
||
#Background
|
||
#{
|
||
# skyColor [0.752941 0.752941 0.752941]
|
||
#}
|
||
Transform
|
||
{
|
||
#rotation 1 0 0 -1.5707963
|
||
#scale .001 .001 .001
|
||
children
|
||
[
|
||
DEF AOBJ_0001_000_TRAFO Transform
|
||
{
|
||
children
|
||
[
|
||
...
|
||
</pre>
|
||
<p>Verás que este archivo es exportado con un software de simulación de robots llamado Tecnomatix. Elimina ese aviso y añade la URL de donde has obtenido el archivo, porque Tecnomatix no tiene ningún copyright en el contenido del archivo. Es solo un conversor! Antes de nada eliminamos el nodo de Background. Luego eliminamos el nodo de rotación y escala para tener el modelo en mm y Z a la derecha.
|
||
</p><p>Justo al final:
|
||
</p>
|
||
<pre> ] }
|
||
] }
|
||
] }
|
||
]
|
||
}
|
||
#ROUTE SENS_04_OBJ.rotation_changed TO AXIS_04_OBJ.rotation
|
||
#ROUTE SENS_27_OBJ.rotation_changed TO AXIS_27_OBJ.rotation
|
||
#ROUTE SENS_32_OBJ.rotation_changed TO AXIS_32_OBJ.rotation
|
||
#ROUTE SENS_44_OBJ.rotation_changed TO AXIS_44_OBJ.rotation
|
||
#ROUTE SENS_46_OBJ.rotation_changed TO AXIS_46_OBJ.rotation
|
||
#ROUTE SENS_49_OBJ.rotation_changed TO AXIS_49_OBJ.rotation
|
||
#DEF AnySIMTimer TimeSensor
|
||
#{
|
||
# cycleInterval 1.000000
|
||
# loop TRUE
|
||
#}
|
||
</pre>
|
||
<p>Desmarcar como comentario el sensor de tiempo TimeSensor y las 6 rutas. Estas 6 líneas te dan una pista de la situación del eje real del robot! Primero busca por "AXIS_04_OBJ" que te lleva a esta parte:
|
||
</p>
|
||
<pre>...
|
||
Transform { rotation 1 0 0 1.570796 children [
|
||
DEF SENS_04_OBJ-0001 CylinderSensor
|
||
{
|
||
diskAngle 1.570796
|
||
minAngle -3.228859
|
||
maxAngle 3.228859
|
||
offset 0.000000
|
||
}
|
||
DEF FREECAD_AXIS1 Transform { rotation 0 1 0 0 children [
|
||
DEF AXIS_04_OBJ-0001 Transform
|
||
{
|
||
children
|
||
[
|
||
Transform { rotation 1 0 0 -1.570796 children [
|
||
DEF AOBJ_0001_003_TRAFO Transform
|
||
{
|
||
rotation 1.000000 0.000000 0.000000 3.141593
|
||
translation -600.000000 500.000000 300.000000
|
||
children
|
||
[
|
||
...
|
||
</pre>
|
||
<p>Tienes que insertar justo encima de la definición de este nodo la línea <b>"DEF FREECAD_AXIS1 Transform { rotation 0 1 0 0 children ["</b> la cual es el anclaje para que FreeCAD pueda mover el eje.
|
||
</p><p>Ahora haz lo mismo para <b>FREECAD_AXIS2</b>,<b>FREECAD_AXIS3</b>,<b>FREECAD_AXIS4</b>,<b>FREECAD_AXIS5</b> y <b>FREECAD_AXIS6</b>. No olvides cerrar los corchetes al final del archivo y listo!
|
||
</p><p>Puedes cargar el VRML para instalar el robot:
|
||
</p>
|
||
<pre>App.activeDocument().addObject("Robot::RobotObject","Robot")
|
||
App.activeDocument().Robot.RobotVrmlFile = "C:/_Projekte/FreeCAD0.9_build/mod/Robot/Lib/Kuka/kr16.wrl"
|
||
</pre>
|
||
<p>Lo cual debería dar este resultado:
|
||
<a href="https://www.freecadweb.org/wiki/index.php?title=File:KukaKR16FreeCAD.jpg" class="image"><img alt="KukaKR16FreeCAD.jpg" src="KukaKR16FreeCAD.jpg" width="1020" height="704" /></a>
|
||
</p>
|
||
<h3><span class="mw-headline" id="KR_210">KR 210</span></h3>
|
||
<p><a rel="nofollow" class="external text" href="http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/Lib/Kuka/kr_210_2.pdf">Data sheet</a>
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabla cinemática</b>
|
||
</caption>
|
||
<tr>
|
||
<th> <math>i</math> </th>
|
||
<th> <math>\theta</math> </th>
|
||
<th> <math>d</math> </th>
|
||
<th> <math>a</math> </th>
|
||
<th> <math>\alpha</math> </th>
|
||
<th> <math>\theta_{min}</math> </th>
|
||
<th> <math>\theta_{max}</math> </th>
|
||
<th> Axis Speed
|
||
</th></tr>
|
||
<tr>
|
||
<td> 1 </td>
|
||
<td> 0 </td>
|
||
<td> 750 </td>
|
||
<td> 350 </td>
|
||
<td> -90 </td>
|
||
<td> -185 </td>
|
||
<td> 185 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 2 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 1250 </td>
|
||
<td> 0 </td>
|
||
<td> -155 </td>
|
||
<td> 35 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 3 </td>
|
||
<td> - 90 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 154 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 4 </td>
|
||
<td> 0 </td>
|
||
<td> -1100 </td>
|
||
<td> 0 </td>
|
||
<td> -90 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 5 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 130 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 6 </td>
|
||
<td> 0 </td>
|
||
<td> -230 </td>
|
||
<td> 0 </td>
|
||
<td> 180 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 615
|
||
</td></tr></table>
|
||
<p><br />
|
||
</p>
|
||
<h3><span class="mw-headline" id="KR_500">KR 500</span></h3>
|
||
<p><a rel="nofollow" class="external text" href="http://free-cad.svn.sourceforge.net/viewvc/free-cad/trunk/src/Mod/Robot/Lib/Kuka/kr_500_2.pdf">Data sheet</a>
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabla cinemática</b>
|
||
</caption>
|
||
<tr>
|
||
<th> <math>i</math> </th>
|
||
<th> <math>\theta</math> </th>
|
||
<th> <math>d</math> </th>
|
||
<th> <math>a</math> </th>
|
||
<th> <math>\alpha</math> </th>
|
||
<th> <math>\theta_{min}</math> </th>
|
||
<th> <math>\theta_{max}</math> </th>
|
||
<th> Axis Speed
|
||
</th></tr>
|
||
<tr>
|
||
<td> 1 </td>
|
||
<td> 0 </td>
|
||
<td> 1045 </td>
|
||
<td> 500 </td>
|
||
<td> -90 </td>
|
||
<td> -185 </td>
|
||
<td> 185 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 2 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 1300 </td>
|
||
<td> 0 </td>
|
||
<td> -155 </td>
|
||
<td> 35 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 3 </td>
|
||
<td> - 90 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 154 </td>
|
||
<td> 156
|
||
</td></tr>
|
||
<tr>
|
||
<td> 4 </td>
|
||
<td> 0 </td>
|
||
<td> -1025 </td>
|
||
<td> 0 </td>
|
||
<td> -90 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 5 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 0 </td>
|
||
<td> 90 </td>
|
||
<td> -130 </td>
|
||
<td> 130 </td>
|
||
<td> 330
|
||
</td></tr>
|
||
<tr>
|
||
<td> 6 </td>
|
||
<td> 0 </td>
|
||
<td> -250 </td>
|
||
<td> 0 </td>
|
||
<td> 180 </td>
|
||
<td> -350 </td>
|
||
<td> 350 </td>
|
||
<td> 615
|
||
</td></tr></table>
|
||
</div>
|
||
|
||
|
||
|
||
</div>
|
||
|
||
</div><div class="printfooter">
|
||
Online version: "<a dir="ltr" href="https://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis/es&oldid=177588">http://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis/es&oldid=177588</a>"</div>
|
||
<div id="catlinks" class="catlinks" data-mw="interface"></div><div class="visualClear"></div>
|
||
</div>
|
||
</div>
|
||
<div id="mw-navigation">
|
||
<h2>Navigation menu</h2>
|
||
|
||
</body></html> |