01-06-2012, 05:13 PM
Denavit Hartenberg Parameters
Denavit Hartenberg Parameters.ppt (Size: 809 KB / Downloads: 54)
D-H Parameters define the motion of actuators connected by rigid links
It is one of the multi body dynamics procedures
Assign a coordinate frame
Locate the mass centre of various components
Find the D-H parameters
Perform forward and inverse kinematics
The Kinematics Function of a Link
The kinematics function of a link is to maintain a fixed relationship between the two joint axes it supports.
This relationship can be described with two parameters: the link length a, the link twist
Joint Parameters
A joint axis is established at the connection of two links. This joint will have two normals connected to it one for each of the links.
The relative position of two links is called link offset dn which is the distance between the links (the displacement, along the joint axes between the links).
The joint angle qn between the normals is measured in a plane normal to the joint axis.
parameters are associated with each link. You can align the two axis using these parameters.
The Denavit-Hartenberg (D-H) Representation
The appeal of the D-H representation lies in its algorithmic approach.
The method begins with a systematic approach to assigning and labeling an orthonormal (x,y,z) coordinate system to each robot joint. It is then possible to relate one joint to the next and ultimately to assemble a complete representation of a robot's geometry.