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Dr. S. Sanyal, Mech. Engg. Dept., NIT Raipur

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FK Model of 6 DOF PUMA Robot

X0

Z0

Y0

Z1

Y1

X1

X2

Y2

Z2

X3

Y3

Z3

X4

Y4

Z4

J1

J2 J3

J4 J7J5J6

X5

Y5Z5

X6

Z6

Y6

About/along z About/along x

Joints i-1Ti d a

0 to 10

T1 0 900

0 -900

1 to 2 1T2 d2 0 a2 0

2 to 3 2T3 -d3 -900 a3 -900

3 to 4 3T4 d4 1800 0 -900

4 to 5 4T5 0 0 0 900

5 to 6 5T6 d6 0 0 0

d2

a2

a3

d3

d4 d6

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FK Model of 6 DOF Robotic Manipulator

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About/along z About/along x

Joints i-1Ti d a

0 to 1 0T1 0 0 900

1 to 2 1T2 0 a2 0

2 to 3 2T3 0 a3 00

3 to 4 3T4 0 a4 -900

4 to 5 4T5 0 0 900

5 to 6 5T6 0 0 0

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About/along z About/along x

Joints i-1Ti d a

0 to 1 0T1 0 0 900

1 to 2 1T2 0 a2 0

2 to 3 2T3 0 a3 00

3 to 4 3T4 0 a4 -900

4 to 5 4T5 0 0 900

5 to 6 5T6 0 0 0

0T1

C1 0 S1 0

S1 0 -C1 0

0 1 0 00 0 0 1

1T2

C2 -S2 0 C2a2

S2 C2 0 S2a2

0 0 1 00 0 0 1

2T3

C3 -S3 0 C3a3

S3 C3 0 S3a3

0 0 1 0

0 0 0 1

3

T4C4 0 -S4 C4a4

S4 0 C4 S4a4

0 -1 0 0

0 0 0 1

4

T5C5 0 S5 0

S5 0 -C5 0

0 1 0 0

0 0 0 1

5T6

C6 -S6 0 0

S6 C6 0 0

0 0 1 0

0 0 0 1

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FK Model of Stanford Arm

About/along z About/along x

Joints i-1Ti

d

a

0 to 1 0T1 0 1 0 -900

1 to 2 1T2 0 2 0 90

2 to 3 2T3 0 0 0 00

3 to 4 3T4 0 4 0 -900

4 to 54

T5 0 5 0 900

5 to 6 5T6 0 6 0 0