Challenge defining these DH parameters

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SUMMARY

Thomas is designing a robot arm using the Denavit-Hartenberg (DH) convention but is struggling to define the parameters a, d, alpha, and theta correctly, particularly at links 2 and 5. The discussion highlights the importance of accurate coordinate definitions in the DH parameterization process. Participants suggest that a clearer illustration or more detailed explanation of the issue may be necessary for effective troubleshooting. The conversation emphasizes the need for precise parameter definitions to ensure proper robotic arm modeling.

PREREQUISITES
  • Understanding of Denavit-Hartenberg convention
  • Familiarity with robotic kinematics
  • Basic knowledge of coordinate systems
  • Experience with robotic arm design principles
NEXT STEPS
  • Study the Denavit-Hartenberg parameterization process in detail
  • Review common errors in defining DH parameters
  • Watch instructional videos on robotic arm modeling
  • Practice with simulation tools for robotic kinematics
USEFUL FOR

Robotics engineers, mechanical designers, and students involved in robotic arm design and kinematic modeling.

chipzfreak
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Homework Statement
Denavit-Hartenberg Coordinate System impossible
Relevant Equations
Basic knowledge of DH conventions
Dear all,

I am momentarily designing a robot arm and I will use the Denavit-Hartenberg convention to model my arm (see picture).

The problem I have, however, is that I cannot seem to define the robot arm in the parameters of a, d, alpha and theta. It could be that my coordinates are not correct, but I could not find an error there. The problems I encounter are arising at links 2 and 5. Could someone enlighten me with what I am doing wrong?

Thank you in advance,
IMG_20190503_113656__01.jpg
Thomas
 
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There's not enough information in your illustration or explanation of what your problem is, and I don't know anything about this in particular anyway, but I skimmed the Wikipedia article, and it had a link to the following video:

 
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