The Kuka KR 16-2 Robot

12
The Kuka KR 16-2 Robot Michael Anachuna Curtis Moorefield Juan Ramirez TEAM 5

description

presentation of the kuka robot

Transcript of The Kuka KR 16-2 Robot

The Kuka KR 16-2 Robot

Michael AnachunaCurtis Moorefield

Juan RamirezTEAM 5

PROBLEM STATEMENTApply analysis on

robotTechnical dataForward KinematicsVelocity kinematicsSingularityTrajectory planningdesign

Technical DataDOF: 6Axes:6Payload: 16 kg, max

46kg

•Weight 235 kg•Max reach: 1611 mm•Actuator: electric

Reachable work space

Dh parametersi αi-1 ai-1 di θi

1 0 0 0 370

2 90 675 260 190

3 0 680 0 284

4 90 670 35 700

5 90 0 0 260

6 90 115 0 700

Singularity

elbowshoulder

wrist

KINEMATIC ANALYSIS

Forward Velocity

4.6711

10.5848

7.2827

0.5356 -0.5365 -0.1561 -0.7350

-0.7899 -0.5537 0.1280 -0.2303

-0.0207 0.5617 0.9794 -1.0661

0 0 0 1

Trajectory Planning link 1

0 1 2 3 4 5 6 7 8 9

-10

0

10

20

30

40

50

60

70Link 1

positionvelocityaccel.

time(sec)

pos,

vel,

accel

Trajectory Planning link 2

0 1 2 3 4 5 6 7 8 9

-20

0

20

40

60

80

100

120

140

Link 2

positionveolcityaccel.

time(sec)

po

s,v

el,

accel

Trajectory Planning link 3

0 1 2 3 4 5 6 7 8 9-20

0

20

40

60

80

100

120

140Link 3

positionvelocityaccel.

time(sec)

pos,

vel,

accel

DESIGNExample

Structural length index

Kuka milling machinehttp://youtu.be/F-m514f

UXvM

Conclusion

Thank youAny questions