SRI SIDDHARTHA ACADEMY OF HIGHER EDUCATION

(Declared as Deemed to be University Under Section 3 of the UGC Act, 1956

Approved by AICTE, Accredited by NBA, NAAC ‘A’ Grade)

AGALKOTE, TUMAKURU – 572107

KARNATAKA

DEPARTMENT OF ELECTRONICS AND COMMUNICATION ENGINEERING

SUBJECT: ROBOTICS AND AUTOMATION

TITLE:FORWARD KINEMATICS
FOR
MANIPULATOR
USING ROBO ANALYZER SOFTWARE

FROM
D.GOKUL CHANDRA REDDY 20EC023
INTRODUCTION:

Robot kinematics: It applies geometry to the study of

the movement of multi degree of freedom kinematic chains that
form the structure of robotic system. The emphasis on geometry
means that the links of the robot are modelled a rigid bodies and
its joints are assumed to provide pure rotation or translation
Robot kinematics studies the relationship between the
dimensions and connectivity of kinematics chains and the
position ,velocity and acceleration of each of the links in the
robotic system in order to plan and control movement and to
compute actuate forces and torques .The relationship between
mass and inertia properties ,motion and the associated forces
and torque is studied as part of robot dynamics .Forward
kinematics is to find the position of the object and orientation of
the object from the joint angles. This is known as forward
kinematics.
 By considering right hand rule we can have axis X1 which is given
perpendicular to both the Z-axis. Joint2 is the horizontal arm
which is sliding inwards and outwards hence will be having
variable D2 which is joint offset which indicates the sliding of the
horizontal arm at any given instant, so will assign X2 in the same
direction of X1. As joint3 is the last joint it is necessary to have
X3 aligned with X2 so that when theta3 is 0 it will give us the
coincident condition for X2 and X3.As joint base frame0 and
joint1 is coincident we have link length, link twist and joint offset
0 and theta is theta1.
At joint2 as Z1and Z2 are intersecting link length will be zero,
link twist will be +90 degree, D2 indicates sliding of this
horizontal arm as we have mentioned and X2 is assigned by
considering D2 and as it is sliding joint theta will be 0.
In joint3 we can see Z2 and Z3 are aligned in the same
direction link length is O as well as link twist is O, distance D
will be 13 because if you look at this length 13 it is in the
direction ofZ3 hence as per the definition of joint offset we
assigned di along zaxis. And theta3 indicates the rotation of the
tool. And keep the value of Y axis again using right-hand thumb
rule.
DH TABLE:

Forward kinematics refers to process of obtaining position and

velocity of end effector, given the known joint angles and angular
velocity.

 EXAMPLE A 3DOF RPR ROBOT

PROCEDURE:

 First link will be rotating around the vertical axis which is

given by joint1, second link will be sliding so it is given by joint2
and we have a tool attached at the end of the second link
which can be given as joint3.

 Coordinate system 0 which is our reference frame and joint1

will be coincident at this particular location joint2 which
indicates sliding of horizontal arm and joint three which
indicates the rotation of the tool.

 Axis Z1 is the rotation axis for joint1 about vertical axis,

second joint will be of sliding type so Z2 will be in the
direction of motion and joint3 is rotating so again Z3 is axis of
rotation for joint3.
CONCLUSION:

A new method of synthesis is suggested, as an

alternative existing methods of computer science for motion
planning, for designing RPR planar robotic work cells. When a
planar task requires large angles of rotation, the motion planning is
dominated by the coordination of this rotations with the available
excursions-range at one rotary joint in the robot. The coordination
was achieved by adapting traditional algebraic methods of linkage
synthesis.