605 lines
18 KiB
HTML
605 lines
18 KiB
HTML
<html><head><title>Robot 6-Axis/it</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/it</h1></div>
|
||
|
||
<div id="mw-content-text" lang="it" 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">Argomento
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">Robot
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Livello di difficoltà
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">Intermedio
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Tempo di esecuzione
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Autore
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">Versione di FreeCAD
|
||
</th></tr>
|
||
<tr>
|
||
<td class="ctEven">
|
||
</td></tr>
|
||
<tr>
|
||
<th class="ctOdd">File di esempio
|
||
</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="#Esempio_Kuka"><span class="tocnumber">2</span> <span class="toctext">Esempio Kuka</span></a>
|
||
<ul>
|
||
<li class="toclevel-2 tocsection-2"><a href="#Cinematica"><span class="tocnumber">2.1</span> <span class="toctext">Cinematica</span></a></li>
|
||
<li class="toclevel-2 tocsection-3"><a href="#Rappresentazione_visiva"><span class="tocnumber">2.2</span> <span class="toctext">Rappresentazione visiva</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>Questo articolo descrive come importare in FreeCAD un robot industriale standard a 6 assi a scopo di simulazione.
|
||
</p><p>La descrizione è conforme alla <a rel="nofollow" class="external text" href="http://it.wikipedia.org/wiki/Convenzione_di_Denavit-Hartenberg">Convenzione di Denavit-Hartenberg</a> per i parametri, come descritto anche nel libro <b>Introduction to Robotics</b> di John J. Craigs.
|
||
</p>
|
||
<h2><span class="mw-headline" id="Esempio_Kuka">Esempio Kuka</span></h2>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Il 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="Cinematica">Cinematica</span></h3>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Applicazioni 3D</b>
|
||
</caption>
|
||
<tr>
|
||
<th> Segmento
|
||
</th>
|
||
<th> Parametro
|
||
</th>
|
||
<th> Descrizione
|
||
</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> Configurazione di base
|
||
</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>Questo porta alla seguente tabella:
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabella cinematica</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>Dato che i robot Kuka non hanno tutti gli assi a 0 nella posizione a L disegnata, si devono modificare gli assi 2 e 3 di 90 °.
|
||
</p><p><br />
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabella cinematica</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>Nella scheda tecnica si trovano ulteriori informazioni sugli assi:
|
||
</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>Questo permette di compilare la tabella completa:
|
||
</p>
|
||
<table class="wikitable" style="color:green; background-color:#ffffcc;" cellpadding="5" cellspacing="0" border="1">
|
||
<caption> <b>Tabella cinematica</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="Rappresentazione_visiva">Rappresentazione visiva</span></h3>
|
||
<p>FreeCAD può generare una soddisfacente rappresentazione visiva della tabella cinematica. Se si desidera una visione più vicina alla realtà è possibile utilizzare per la simulazione un file VRML con la forma del robot. Ad esempio, <a rel="nofollow" class="external text" href="http://kuka.com">Kuka</a> offre dei file VRML per i suoi modelli. In FreeCAD il file VRML viene caricato durante la creazione di un robot specifico. Per consentire a FreeCAD di muovere gli assi, si deve editare il file VRML e inserire degli speciali nodi di trasformazione che FreeCAD possa trovare e manipolare.
|
||
</p><p>Anche questo esempio si riferisce a un Kuka KR 16.
|
||
Cominciando dalla riga 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>Si vede che questo file è stato esportato con un software di simulazione di robot chiamato Tecnomatix. Rimuovere questa nota e inserire l'URL da cui si è ottenuto il file, perché Tecnomatix non ha nessun copyright sul contenuto del file. E' solo un convertitore! Iniziare con il rimuovere il nodo <b>Background</b>. Quindi rimuovere i nodi <b>rotation</b> e <b>scale</b> per ottenere il modello in mm e l'asse Z verticale.
|
||
</p><p>Poi, proprio alla fine:
|
||
</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>Togliere il segno di commento a <b>TimeSensor</b> e alle 6 rotte. Questo 6 righe indicano dove si trova l'asse effettivo del robot!
|
||
Ricercare <b>AXIS_04_OBJ</b> e arrivare a questa parte del file:
|
||
</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>Dove si deve inserire immediatamente sopra la definizione di questo nodo la riga <b>"DEF FREECAD_AXIS1 Transform { rotation 0 1 0 0 children ["</b> che è l'ancora che FreeCAD utilizza per spostare questo asse.
|
||
</p><p>Poi fare la stessa cosa per <b>FREECAD_AXIS2</b>,<b>FREECAD_AXIS3</b>,<b>FREECAD_AXIS4</b>,<b>FREECAD_AXIS5</b> e <b>FREECAD_AXIS6</b>. Non dimenticare le parentesi di chiusura alla fine del file e il gioco è fatto!
|
||
</p><p>Ora è possibile caricare il file VRML per installare il robot con:
|
||
</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>Che dovrebbe dare questo risultato:
|
||
<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>Tabella cinematica</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>Tabella cinematica</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/it&oldid=177581">http://www.freecadweb.org/wiki/index.php?title=Robot_6-Axis/it&oldid=177581</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> |