DESIGN AND MANUFACTURE 4 B59DF 3rd Year – Mechanical Engineering ROBOTICS CASE STUDY Mechanical Engineering School of Engineering and Physical Sciences Heriot Watt University Edinburgh, UK. RAMONI Francis-Olivier LUCAS Flavien TUR Julien LOUIS René Gilles 2009 -2010
DESIGN AND MANUFACTURE 4 LUCAS – LOUIS – TUR -RAMONI 2 /33 Table of contentsIntroduction ……………………………………………………………………………………………………………………………………… 3 1 First model ……………………………………………………………………………………………………………………………………. 4 1.1 Overview of the robot …………………………………………………………………………………………………………… 4 1.2 Description of joints …………………………………………………………………………………………………………….. 5 1.3 Degrees of freedom ……………………………………………………………………………………………………………… 6 1.4 Kinematic design of the robot ……………………………………………………………………………………………… 7 1.5 Link parameters of the robot ………………………………………………………………………………………………. 7 2 Second robot ………………………………………………………………………………………………………………………………… 8 2.1 Its description ……………………………………………………………………………………………………………………… 8 2.2 Degree of freedom ………………………………………………………………………………………………………………. 8 2.3 Kinematic model…