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Ejemplo1

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  • 1. WZKD /ED d/K /ZdK ZKKd^ /Eh^dZ/ ^ K D d
  • 2. , , d
  • 3. (1) Robot de 4 GDL al cual se le debe calcular la cinemática directa para el extremo del eslabón 4.Z ZWWZ
  • 4. (2) Se parte de conocerlas dimensiones de loseslabones del robot y losángulos o distancias delas articulaciones.
  • 5. (3) Se asignan lossistemas de referencia deacuerdo al algoritmo D-Hy se obtienen losparámetros y se ponen enla tabla.
  • 6. (4) Con los valores de latabla, se calculan lasmatrices A, luego semultiplican y se obtienela matriz T La matriz T, es la solución al problema cinemático directo.

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