DH Example: Puma 560

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D-H Example Puma 560
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First three rotations of Puma
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First three rotations of Puma
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i-11
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i-11
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The first rotation q1 occurs about the Z1 axis.
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The second rotation q2 occurs about the Z2 axis.
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However, the Z2 axis and the Z1 axis intersect
one another.
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Therefore the X1 axis may be oriented arbitrarily.
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Therefore the X1 axis may be oriented arbitrarily.
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Since the two frames share their origin, a1d20
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Since the two frames share their origin, a1d20
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But what about a1?
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But what about a1?
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But what about a1?
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The third axis of rotation is parallel to the
second.
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The third axis of rotation is parallel to the
second.
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The third axis of rotation is parallel to the
second.
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So we may place the frame-3 origin anywhere along
that axis.
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After locating the origin of the 3 frame we
define d3.
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What is a2?
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What is a2?
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a2 is zero because the Z2 and Z3 frames are
parallel.