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How to set the coordinate system of the manipulator?

By Qi.chen on 15 Apr 01:48 2 answers 1 comment

I want to write an the design manual

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2 answers

  • Richard Long
    Richard Long over 2 years ago

    You have a number of options but these should be informed by the design requirements, design intent and the concept of operation.

    The following options should be considered for locating the master co-ordinate system for an articulated arm:

    Principal symmetry feature of a fixed base;
    Principal corner/envelope extremity with reference to a critical interface.
    Origin coincident with the axis of rotation of the first articulating member.

    I would, however suggest the following as candidate locations of the co-ordinate system:

    1. Equidistant form each wheel corner in a plane coincident with the centerlines of the wheel axles. Z-Axis parallel to axis of first articulated member;
    2. coincident with the centerlines of the wheel axles. Z-Axis colinear with axis of first articulated member;
    3. Origin on front or rear face of the chassis.
    4. Origin on some virtual feature corresponding to the stowed position of the last articulated member (grabber)

    I hope I could have been some help.

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