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BCN3D-Moveo | Open Source 3D Printed Robotic Arm for educational purposes

 by   BCN3D C++ Version: Current License: MIT

 by   BCN3D C++ Version: Current License: MIT

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kandi X-RAY | BCN3D-Moveo Summary

BCN3D-Moveo is a C++ library typically used in Internet of Things (IoT), Arduino applications. BCN3D-Moveo has no bugs, it has no vulnerabilities, it has a Permissive License and it has medium support. You can download it from GitHub.
this is the repository that contains the cad files, the stl files, the user manual (with the assembly manual), the firmware, and the bill of materials of the bcn3d moveo. bcn3d technologies keeps taking important steps in order to achieve his goal of bringing the digital manufacturing technology to everyone. in this occasion we are presenting the bcn3d moveo, a robotic arm design from scratch and developed by our engineers in collaboration with the departament d’ensenyament from the generalitat de catalunya. its structure is fully printed using additive manufacturing technologies and its electronics are controlled by the software arduino. moveo, fully functional nowadays, has been born, as all the bcn3d technologies products, with an open and educational wish. one of the departament d’ensenyament worries is the high price of the materials the grade students must use on their internships. holding that in mind, an open source robotic arm, adaptable by the students and low cost reproducible could take several educational itineraries: mechanical design, automatism, industrial programing, etc. thus, the bcn3d moveo should allow the educational centers to enjoy a modifiable and easily accessible for the students, at a price far lower than the usual industrial equipment they used to have to acquire, with enough output for training
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Quality
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kandi-support Support

  • BCN3D-Moveo has a medium active ecosystem.
  • It has 865 star(s) with 353 fork(s). There are 217 watchers for this library.
  • It had no major release in the last 12 months.
  • There are 29 open issues and 7 have been closed. On average issues are closed in 51 days. There are 3 open pull requests and 0 closed requests.
  • It has a neutral sentiment in the developer community.
  • The latest version of BCN3D-Moveo is current.
BCN3D-Moveo Support
Best in #C++
Average in #C++
BCN3D-Moveo Support
Best in #C++
Average in #C++

quality kandi Quality

  • BCN3D-Moveo has 0 bugs and 0 code smells.
BCN3D-Moveo Quality
Best in #C++
Average in #C++
BCN3D-Moveo Quality
Best in #C++
Average in #C++

securitySecurity

  • BCN3D-Moveo has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.
  • BCN3D-Moveo code analysis shows 0 unresolved vulnerabilities.
  • There are 0 security hotspots that need review.
BCN3D-Moveo Security
Best in #C++
Average in #C++
BCN3D-Moveo Security
Best in #C++
Average in #C++

license License

  • BCN3D-Moveo is licensed under the MIT License. This license is Permissive.
  • Permissive licenses have the least restrictions, and you can use them in most projects.
BCN3D-Moveo License
Best in #C++
Average in #C++
BCN3D-Moveo License
Best in #C++
Average in #C++

buildReuse

  • BCN3D-Moveo releases are not available. You will need to build from source code and install.
BCN3D-Moveo Reuse
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BCN3D-Moveo Reuse
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BCN3D-Moveo Key Features

Open Source 3D Printed Robotic Arm for educational purposes

Community Discussions

Trending Discussions on BCN3D-Moveo
  • denavit hartenberg 6dof moveo inverse kinematic robot arm
Trending Discussions on BCN3D-Moveo

QUESTION

denavit hartenberg 6dof moveo inverse kinematic robot arm

Asked 2021-Apr-20 at 10:12

I need your help. I cant get the denavit hartenberg matrix right. (for this robot: https://github.com/BCN3D/BCN3D-Moveo) My robotic arm has 6 dof (normal one has only 5) but I dont get how to configure the theta and alpha variable for it. Current matrix looks like this:

joint d r alpha theta
1 232.0 0 ? ?
2 0 223.0 ? ?
3 0 0 ? ?
4 224.0 0 ? ?
5 0 0 ? ?
6 175.0 0 ? ?

(If this table doesn't look right click here) The robotic arm is looking straight in the air while being in the home position.

How does the denavit-hartenberg matrix look like?

More pictures: https://www.bcn3d.com/bcn3d-moveo-the-future-of-learning/

ANSWER

Answered 2021-Apr-20 at 10:12

DH Parameters allow us to fill in the elements of our transformation matrices according to a schema. This schema has some limitations to it, which sometimes calls for clever tricks to get by any issues - but more on that in a minute.

First off, about the parameters themseleves.

  • d is the distance between two frames i and (i-1) along the z axis of (i-1).
  • a - or r in your case - is the distance between two frames i and (i-1) along the x axis of i.
  • theta is the angle between the x axes of i and (i-1) about the positive z axis of the (i-1) frame
  • alpha is the angle between the z axes about the newly rotated x axis after the rotation of theta has been applied

Furthermore, DH notation presupposes the following about the axes of the coordinate frames:

  • the z-axis always points along the axis of actuation (that is, rotation in your case).
  • the x-axis of the frame i has to intersect the z-axis of the frame (i-1)
  • the y-axis is set such that the frame forms a right-hand coordinate system

Below is an image of your system in the home pose with coordinate frames applied according to DH notation.

home pose kinematic chain

As you might notice, DH Notation does not allow for a displacement between the rotation and torison joint frames. This is not a problem, since mathematically it does not make a difference on where the rotation occurrs. The curved lines denote that the relevant frames are placed in the same position for notation purposes.

table snapshot

Now the only thing you have to do is think about where the rotations of your joints might be inserted into the DH-table as well as the displacement beteween the rotational frames (l1 through 4).

You may then insert the DH Parameters into the DH Matrix for each frame and use these transformations for your kinematic calculations.

For future questions, you might want to think about posting them at the Robotics Stack Exchange site, it will probably be easier to get an answer there very quick.

Source https://stackoverflow.com/questions/67159164

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install BCN3D-Moveo

You can download it from GitHub.

Support

For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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