ASSIGNMENT

SUBJECT: ROBOTICS AND AUTOMATION

FORWARD KINEMATICS
FOR
MANIPULATOR
USING ROBO SOFTWARE

From
D.GOKUL CHANDRA REDDY 20EC023

DATE OF SUBMISSION:
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 XI
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 XI. As joint3 is the last joint it is
necessary to have X3 aligned with X2 so that when
theta3 is O it will give us the coincident condition for
X2 and X3.As joint base frameO and jointl is coincident
we have link length, link twist and joint offset O and
theta is thetal.
At joint2 as ZI and Z2 are intersecting link length
will be zero, link twist will be +90 degree, D2 indicates
sliding of this particular horizontal arm as we have
mentioned and X2 is assigned by considering D2 and
as it is sliding joint theta will be O.
• > 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 velocities.

(a) (b)

PROCEDURE:
• First link will be rotating around the vertical axis which is
given by jointl, 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
jointl 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 Zl is the rotation axis for jointl 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 exisiting
methods of computer science for motion
planning, for designing RPR planar robotic
workcells. 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 rotaory joint in the robot .The
coordination was achieved by adapting
traditional algebraic methods of linkage
synthesis .