In this paper, the forward and inverse kinematic relations of a hybrid 6-DOF robotic manipulator, named the H6AR, are presented. The H6AR consists of twin 2-DOF anthropomorphic arms that can move in the vertical plane. These arms are connected, at one end, to a 1-DOF waist and constrained, at the other end, by a novel wrist assembly. The wrist contains an actuator only for the pitching motion a...

The aim of this paper is to give a general and unifying presentation of the dynamic modelling and identification issues of a car. The modelling is based on the modified Denavit-Hartenberg geometric description, which is commonly used in robotics. The kinematics and dynamic models are automatically calculated using the software package SYMORO+. The dynamic model is used to simulate the behaviour...

This report studies robot modelling by means of the computer algebra tool Maple. First coordinate systems are described, and the more general way with transformation matrices is chosen in the further work. The position kinematics of the robot are then described by homogeneous transformations. The Denavit-Hartenberg representation is used, which is a systematic way to develop the forward kinemat...

This paper introduced design analysis of a new 5DOF surgical robot used for minimally invasive surgery. The kinematics modeling is studied by solving the forward and inverse kinematics of the robot using the Denavit-Hartenberg convention and geometrical method. Robot kinematics simulation is built by creating the 3D CAD model of the robot and patient, then a kinematic motion simulation of a sur...

This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

Robotics is an important area not only in research and development but also from the perspective of industrial automation. As a result, increasing number of fundamental and advanced level robotics courses are being introduced in the undergraduate and postgraduate curricula, particularly in Mechanical and Electrical engineering streams. Robot kinematics is the cornerstone of such courses and it ...

Industrial robots have very good repeatability but still lack good absolute accuracy. The main reason is difference between the ideal robot kinematic model integrated in the robot controller and actual robot parameters. A method for identifying certain parameters of the robot model has been proposed. A noncontact method using a stereovision system attached to the robot arm is utilized for provi...

The wheel loader is modeled as a mechanical manipulator with four degrees of freedom (DOFs), which comprises a seven-bar linkage using the symbolic notation of Denavit and Hartenberg. Homogeneous transformation matrices are used to capture the spatial configuration between adjacent links. The forward kinematics method is used to formulate the kinematics equations by attaching Cartesian coordina...

According to bionics and simplified octopus structure, this paper designed a universal mobile quadruped robot and adopted Denavit-Hartenberg system to analyze the single leg kinematics of a robot, obtaining its kinematics equation. Also, through the method of separating variables, this paper solved its inverse kinematics and got the joint angle. A walking gait is planned and the joint angle of ...

Legged vehicles can walk on rough and irregular surfaces with a high degree of softness . This is one of the main reasons why legged machines have received increasing attention by the scienti c community. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram ...