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Cinemática directa: robot 2 DoF

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Cinemática directa: robot 2 DoF

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Cinemática directa: robot 2 DoF

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william leonardo gutierrez pezoa
william leonardo gutierrez pezoa
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Cinemática directa: robot 2 DoF
 

Cinemática directa: robot 2 DoFOnline version

Cinemática directa: robot 2 DoF

by william leonardo gutierrez pezoa
1

Introducción a la cinemática directa

La cinemática directa describe la posición y orientación del efector final a partir de los ángulos de las articulaciones de un robot. En un 2 DoF, calculamos la posición planar del extremo.

2

Robot de 2 DoF en plano

Un robot planar de 2 DoF tiene dos eslabos y dos articulaciones rotatorias. Sus movimientos se realizan en el plano XY, facilitando cálculos y visualización.

3

Parámetros del sistema

Sean l1 y l2 las longitudes de los eslabos y θ1, θ2 sus ángulos. El sistema es rígido y sin deslizamiento.

4

Posición del efector final

La posición (x, y) se obtiene por x = l1 cos θ1 + l2 cos(θ1 + θ2), y = l1 sin θ1 + l2 sin(θ1 + θ2).

5

Orientación del efector

La orientación total es φ = θ1 + θ2. Esta simple suma describe la dirección del extremo del robot en el plano.

6

Ejemplo numérico 1

Con l1 = 4, l2 = 3, θ1 = 30°, θ2 = 45°, calculamos x y y y la orientación φ.

7

Ejemplo numérico 2

Si θ1 = 60° y θ2 = -30°, el efector se ubica en el plano con una orientación de φ = 30°.

8

Errores y singularidades

Atención a las singularidades, donde el efector pierde una DOF. Ratios de longitudes desbalanceadas pueden complicar la solución.

9

Aplicaciones interactivas

Usa una simulación para ajustar l1, l2, θ1, θ2 y observar el cambio en posición y orientación en tiempo real.
 
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