In order to compute the torque needed to pick up a 200g body, we know that we have three screws allowing us to move in the three coordinates frames, perhaps we are using a steel rod as a guide in the X axis to assure the correct displacement. We are developing the calculations for the …
Author Archives: erickponc
DGM Cartesian Robot (3DOF & 6DOF)
Continuing with the advances of the cartesian robot, the team presents its direct geometric model for the case of 3 degrees of freedom (DOF) and the case of 6DOF in the images shown below. Placing all the reference frames according to the Denavit-Hartenberg parameters, we were able to get the following table: For the 6DOF …
Cartesian geometry robot (PPP)
Our team “Engelberger Co.” is going to design a robot of the type “Cartesian geometry (PPP)” This type of robot has 3 prismatic joints, providing a cube-shaped workspace. Its axes are coincident with a cartesian coordinate frame.
UASLP Robotics 101 