Cinematica Directa de la

Arquitecrura Mecnica del SCARA

Matriz de Rotacin y Vector de Traslacn
In[1]:=

Q[_, _] := {{Cos[], - Sin[] * Cos[], Sin[] * Sin[]},

{Sin[], Cos[] * Cos[], - Cos[] * Sin[]}, {0, Sin[], Cos[]}};
a[_, d_, b_] := {d * Cos[], d * Sin[], b};

Cinemtica Directa
In[3]:=

Out[11]=

Q1 = Q[1 , 0];
a1 A = a[0, 0, h1 + e1 ];
a1 = a[1 , l1 , h1 + e1 ];
Q2 = Q[2 , 180 * Degree];
a2 = a[2 , l2 , 0];
Q3 = Q[180 * Degree, 0];
a3 = a[180 * Degree, 0, h4 ];
u = a1 + Q1 .a2 + Q1 .Q2 .a3 ;
robotic
robotic

cinematica_directa_robot_clase.nb

Simulacin de los movimientos

In[12]:=

l1 = 325;
l2 = 215;
e1 = 10;
h1 = 157;
h4 = 150;
Line1a = Line[{{0, 0, 0}, a1 A }];
Linea1 = Line[{a1 A , a1 }];
Linea2 = Line[{a1 , a1 + Q1 .a2 }];
Linea3 = Line[{a1 + Q1 .a2 , u}];
EjeX = Line[{{0, 0, 0}, {100, 0, 0}}];
EjeY = Line[{{0, 0, 0}, {0, 100, 0}}];
EjeZ = Line[{{0, 0, 0}, {0, 0, 100}}];
Animate[Graphics3D[{
{AbsoluteThickness[2], RGBColor[1, 0, 0.5], EjeX},
{AbsoluteThickness[2], RGBColor[1, 0.5, 0], EjeY},
{AbsoluteThickness[2], RGBColor[0.5, 0, 0.5], EjeY},
{AbsoluteThickness[2], RGBColor[1, 0, 0], Line1a},
{AbsoluteThickness[2], RGBColor[0, 1, 1], Linea1} /. {1 i},
{AbsoluteThickness[2], RGBColor[0, 0, 0.5], Linea2} /. {1 i, 2 i},
{AbsoluteThickness[2], RGBColor[0.5, 0.5, 0.5], Linea3} /.
{1 i, 2 i, h4 150 * i / Pi}},
Boxed True, Axes True, AxesLabel {"x", "y", "z"},
PlotRange {{- 600, 600}, {- 600, 600}, {0, 600}}], {i, 0, Pi, Pi / 18}]
i

cinematica_directa_robot_clase.nb

600
Out[24]=

400
z
500
200
0
0

-500

0
x
-500
500