Bng DenavitHartenberg:

Joint
1
2
3

d
d1
q1
q2

q3

Trong :

q4

a5

2
2
2
2

d1 = 1500mm, a5 =120mm

q1, q2, q3, q4 l cc bin khp (3 tnh tin + 1 quay).

Dong hoc thuan

qt=[120*t;60*t;50*t;(pi/2)*t/10];

Cac bien khop

1500

q1
q2
q3
q4

(mm)

1000

500

10

20

30
t(s)

40

50

Quy dao khau thao tac

Quy dao
1500
1400

x(mm)

1300
1200
1100
1000
900
800
0
-200

1500

-400

1000

-600
z(mm)

500
-800

Dong hoc nguoc

Di chuyen toi diem (1200;-720;1500)

y(mm)