AN2350 datasheet(7/41 Pages) STMICROELECTRONICS

Il numero della parte	AN2350

Spiegazioni elettronici	Guidelines for the control of a multiaxial planar robot with ST10F276

PDF	41 Pages

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Produttore elettronici	STMICROELECTRONICS [STMicroelectronics]

Homepage	http://www.st.com

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7 / 41 page

AN2350

An overview on robotics

7/41

Figure 2.

The structure of the wafer handler

The robot uses 6 electric motors placed as follows:

●

Z Axis Motor (Vertical elevation)

●

X Axis Motor (Rotation entire robot)

●

Dual Motors (Link 2 and Link 1)

1.2.1

Forward kinematics

Accordingly to the Denavit-Hartenberg convention, an orthonormal cartesian coordinate

system (xi, yi, zi) has been established for each link, in order to characterize the forward

kinematics through a D-H homogeneous transformation matrix.

Figure 3.

The Denavit Hartenberg convention for one arm

Regarding the base coordinates (x0, y0, z0) , the z0 axis lies along the axis of motion of the

prismatic joint. The origin O0 of the base coordinates has been placed at the same height of

Paddle 1

Paddle 0

Link 2

Link 1

Link 2

H axis

Y axis

A axis

W axis

X axis

Z axis

1. Paddle

2. Link 2

3. Link 1

4. Dual Motor Cover

5. Torso Beam

6. Robot Body Mounting Flange

7. Chassis Skin

8. Z-Tube

AN2350 Scheda tecnica(PDF) 7 Page - STMicroelectronics