Analiza pozitionala a mecanismelor robotice cu metoda matricilor de rotatie

l1 :=

1.2m

q1 :=

30

l3 :=

0.35m

q3 :=

0.5 m

l4 :=

0.3m

( )
S1 := sin ( q1)
C1 := cos q1

q2 :=

45

q4 :=

( )
S2 := sin ( q2)

( )
S4 := sin ( q4)

C2 := cos q2

C1 S1

R01 := S
1 C1

0
0

R :=
0 23

0
1 0
0 C S
2
2 R34 :=
R12 :=
0 S C
2
2

1
0

60

C4 := cos q4

C4

0
S
4

0
1
0

0
O1O2 := 0
l
1

0
O2O3 := q3

0

0
O3O4 := l3

0

0
O4P := l4

0

S4

0
C4

 0.866 0.354 0.354

R02 := R01 R12 = 0.5 0.612 0.612

0.707
0.707
0
0.866 0.354 0.354
R03 := R02 R23 = 0.5 0.612 0.612

0.707
0.707
0
0.127 0.354
0.612
R04 := R03 R34 = 0.78

0.612 0.707

0.927
0.127

0.354

OoP := R01 O1O2 + R02 O2O3 + R03 O3O4 + R04 O4P

0.407
OoP = 0.704 m

2.013
q1 :=

30

q2 :=

q3 :=

60

( )
( )
S1 := sin ( q1) S2 := sin ( q2)
C1 := cos q1 C2 := cos q2

C1 S1

R01 := S
1 C1

0
0

q4 :=

0.4 m

( )
S4 := sin ( q4)
C4 := cos q4

1
R23 := 0

25

0
1 0
0 C S
2
2
R12 :=
0 S C
2
2

0
O1O2 := 0
l
1

C4

R34 := 0
S
4

0
O2O3 := q3

0

0
1
0

S4

0
C4

0
O3O4 := l3

0

0
O4P := l4

0
0.866 0.25 0.433
R02 := R01 R12 = 0.5 0.433 0.75

0 0.866 0.5
0.866 0.25 0.433
R03 := R02 R23 = 0.5 0.433 0.75

0 0.866 0.5
0.602 0.25 0.758
R04 := R03 R34 = 0.77 0.433 0.468

0.211 0.866 0.453

OoP := R01 O1O2 + R02 O2O3 + R03 O3O4 + R04 O4P

 0.263
OoP = 0.455 m

2.109
Caz 3

q1 :=

q2 :=

15

q3 :=

67

( )
( )

( )
( )

C1 := cos q1 C := cos q
2
2
S1 := sin q1 S2 := sin q2

C1 S1

R01 := S
1 C1

0
0

q4 :=

0.3 m

( )
S4 := sin ( q4)
C4 := cos q4

1
R23 := 0

0
1 0
0 C S
2
2
R12 :=
R34 :=
0 S C
2
2

0
0
O1O2 := 0 O2O3 := q
3
l

1
0
0
O4P := l4

0

C4

0
S
4

0
1
0

S4

0
C4

0
O3O4 := l3

0

90

 0.966 0.101 0.238

R02 := R01 R12 = 0.259 0.377 0.889

0
0.921
0.391

0.966 0.101 0.238

R03 := R02 R23 = 0.259 0.377 0.889

0.921
0.391
0
0.238 0.101
R04 := R03 R34 = 0.889 0.377

0.391 0.921

0.966
0.259
0

OoP := R01 O1O2 + R02 O2O3 + R03 O3O4 + R04 O4P

0.096
OoP = 0.359 m

2.074

O4P

O4P

O4P