Author: Rachid Manseur, Associate Professor, EE Dept. UWF

The Robot-Draw model is based on the DH-parameters entered by the user. Each parameter is represented according to the following conventions, illustrated in the image below.
 
 

Definitions Rotational joints are shown as red cylinders. The z axis for the link frame is always on the cylinder axis. A thin blue disk is drawn to indicate the positive z direction.  Translational joints are shown as rectangular red boxes. The z axis for the link frame is always on the main axis. A thin blue border line is drawn to indicate the positive z direction.  The link length ai is shown as a green cylinder. Note that the xi direction is always along ai.  The link offset di is shown as a purple cylinder.    End-Effector Note on the illustration that the blue end-effector is added at the end of the an link.  The length a5 does not include the blue gripper.

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This page was developed by :

Dr. Rachid Manseur, Associate Professor of Electrical Engineering
UWF/UF Program in Electrical Engineering
University of West Florida

Last modified on Aug. 16, 2001