The composition and coordinate system of the new Shida robot

Create Date: 2024-8-30 12:03:23|Source: Xinshida/STEP

The AR series robots have 3 rotating joints whose axes are parallel to each other, positioning and orientation in the plane. The other joint is the moving joint, which is used to complete the movement of the end piece perpendicular to the plane. The joint composition of the robot is shown in Figure 2.2, J1 is the first joint of horizontal rotation, J2 is the second joint of horizontal rotation, J3 is the third joint of vertical translation, and J4 is the fourth joint of horizontal rotation.
The composition and coordinate system of the new Shida robot

The coordinate system of the AR series robot can be divided into joint coordinate system, Cartesian coordinate system, user coordinate system and tool coordinate system, and each coordinate system follows the right-hand rule.

Joint coordinate system: As shown in the figure, the coordinate system is determined with each motion joint as the reference. Among them, J1, J2 and J4 joints are rotary joints, and when the robot is projected to the ground, it is positive counterclockwise and negative clockwise; The J3 joint is a translational joint, which is positive vertically upward and negative vertically downward.

Cartesian coordinate system: As shown in the figure, the coordinate system determined by taking the mounting surface of the robot base as a reference (also known as the base coordinate system). Among them, the positive direction of X and Y is shown in the figure, and the positive direction of the Z axis is determined by the right-hand rule.

User coordinate system: The Cartesian coordinate system fixed on the workpiece is a three-dimensional Cartesian coordinate defined on each working space of the workpiece of the target object that the robot wants to operate. The working origin and the direction of each axis can be determined according to the actual needs of the workpiece, and the coordinate system is the base coordinate system if it is not defined.

Tool Coordinate System: A coordinate system that is determined by taking the effective direction of the tool as the Z axis and the end point of the tool as the control point.

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