Serial6R1dof.world
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1 % 6R Serial chain with one degree of freedom solution
2 
4 [CONSTANTS]
5 
6 %--------------------------------------------------------------------
7 % DH Parameters
8 %--------------------------------------------------------------------
9 
10 a1 := 0.5
11 a2 := 0
12 a3 := 0
13 a4 := 0.5
14 a5 := 0
15 a6 := 0
16 
17 d1 := 1
18 d2 := 1
19 d3 := 1
20 d4 := 1
21 d5 := 1
22 d6 := 1
23 
24 alpha1 := pi
25 alpha2 := pi/3
26 alpha3 := pi/3
27 alpha4 := pi
28 alpha5 := pi/3
29 alpha6 := pi/3
30 
31 % Pre-compute sin/cos of alpha_i
32 c1:=cos(alpha1)
33 s1:=sin(alpha1)
34 
35 c2:=cos(alpha2)
36 s2:=sin(alpha2)
37 
38 c3:=cos(alpha3)
39 s3:=sin(alpha3)
40 
41 c4:=cos(alpha4)
42 s4:=sin(alpha4)
43 
44 c5:=cos(alpha5)
45 s5:=sin(alpha5)
46 
47 c6:=cos(alpha6)
48 s6:=sin(alpha6)
49 
50 
51 % For the representation
52 % radius of the cylinder/spheres used for rotations
53 rcr:=0.1
54 
55 % radius of the cylinder/spheres used for connecting rotations
56 rcc:=rcr/2
57 
58 [LINKS]
59 
60 link1: 0.9*white
61  cylinder rcc (0,0,0) (-0.5*0.75*d6,0,0)
62  sphere rcr (-0.5*0.75*d6,0,0)
63  cylinder rcr (-0.5*0.75*d6,0,0) (-0.5*d6,0,0)
64  sphere rcc (0,0,0)
65  cylinder rcc (0,0,0) (0,0,a1)
66  sphere rcc (0,0,a1)
67  cylinder rcc (0,0,a1) (0.5*0.75*d1*c1,0.5*0.75*d1*s1,a1)
68  sphere rcr (0.5*0.75*d1*c1,0.5*0.75*d1*s1,a1)
69  cylinder rcr (0.5*0.75*d1*c1,0.5*0.75*d1*s1,a1) (0.5*1*d1*c1,0.5*1*d1*s1,a1)
70 
71 link2: 0.1*white
72  cylinder rcr (-0.5*1*d1,0,0) (-0.5*0.75*d1,0,0)
73  sphere rcr (-0.5*0.75*d1,0,0)
74  cylinder rcc (-0.5*0.75*d1,0,0) (0,0,0)
75  sphere rcc (0,0,0)
76  cylinder rcc (0,0,0) (0.5*0.75*d2*c2,0.5*0.75*d2*s2,0)
77  sphere rcr (0.5*0.75*d2*c2,0.5*0.75*d2*s2,0)
78  cylinder rcr (0.5*0.75*d2*c2,0.5*0.75*d2*s2,0) (0.5*1*d2*c2,0.5*1*d2*s2,0)
79 
80 link3: 0.9*white
81  cylinder rcr (-0.5*1*d2,0,0) (-0.5*0.75*d2,0,0)
82  sphere rcr (-0.5*0.75*d2,0,0)
83  cylinder rcc (-0.5*0.75*d2,0,0) (0,0,0)
84  sphere rcc (0,0,0)
85  cylinder rcc (0,0,0) (0.5*0.75*d3*c3,0.5*0.75*d3*s3,0)
86  sphere rcr (0.5*0.75*d3*c3,0.5*0.75*d3*s3,0)
87  cylinder rcr (0.5*0.75*d3*c3,0.5*0.75*d3*s3,0) (0.5*1*d3*c3,0.5*1*d3*s3,0)
88 
89 link4: 0.1*white
90  cylinder rcc (0,0,0) (-0.5*0.75*d3,0,0)
91  sphere rcr (-0.5*0.75*d3,0,0)
92  cylinder rcr (-0.5*0.75*d3,0,0) (-0.5*d3,0,0)
93  sphere rcc (0,0,0)
94  cylinder rcc (0,0,0) (0,0,a4)
95  sphere rcc (0,0,a4)
96  cylinder rcc (0,0,a4) (0.5*0.75*d4*c4,0.5*0.75*d4*s4,a4)
97  sphere rcr (0.5*0.75*d4*c4,0.5*0.75*d4*s4,a4)
98  cylinder rcr (0.5*0.75*d4*c4,0.5*0.75*d4*s4,a4) (0.5*1*d4*c4,0.5*1*d4*s4,a4)
99 
100 link5: 0.9*white
101  cylinder rcr (-0.5*1*d4,0,0) (-0.5*0.75*d4,0,0)
102  sphere rcr (-0.5*0.75*d4,0,0)
103  cylinder rcc (-0.5*0.75*d4,0,0) (0,0,0)
104  sphere rcc (0,0,0)
105  cylinder rcc (0,0,0) (0.5*0.75*d5*c5,0.5*0.75*d5*s5,0)
106  sphere rcr (0.5*0.75*d5*c5,0.5*0.75*d5*s5,0)
107  cylinder rcr (0.5*0.75*d5*c5,0.5*0.75*d5*s5,0) (0.5*1*d5*c5,0.5*1*d5*s5,0)
108 
109 link6: 0.1*white
110  cylinder rcr (-0.5*1*d5,0,0) (-0.5*0.75*d5,0,0)
111  sphere rcr (-0.5*0.75*d5,0,0)
112  cylinder rcc (-0.5*0.75*d5,0,0) (0,0,0)
113  sphere rcc (0,0,0)
114  cylinder rcc (0,0,0) (0.5*0.75*d6*c6,0.5*0.75*d6*s6,0)
115  sphere rcr (0.5*0.75*d6*c6,0.5*0.75*d6*s6,0)
116  cylinder rcr (0.5*0.75*d6*c6,0.5*0.75*d6*s6,0) (0.5*1*d6*c6,0.5*1*d6*s6,0)
117 
118 [JOINTS]
119 
120 revolute: link1 (-c1,-s1,a1) (d1*c1,d1*s1,a1)
121  link2 (-d1-1,0,0)(0,0,0)
122 
123 revolute: link2 (-c2,-s2,a2) (d2*c2,d2*s2,a2)
124  link3 (-d2-1,0,0)(0,0,0)
125 
126 revolute: link3 (-c3,-s3,a3) (d3*c3,d3*s3,a3)
127  link4 (-d3-1,0,0)(0,0,0)
128 
129 revolute: link4 (-c4,-s4,a4) (d4*c4,d4*s4,a4)
130  link5 (-d4-1,0,0)(0,0,0)
131 
132 revolute: link5 (-c5,-s5,a5) (d5*c5,d5*s5,a5)
133  link6 (-d5-1,0,0)(0,0,0)
134 
135 revolute: link6 (-c6,-s6,a6) (d6*c6,d6*s6,a6)
136  link1 (-d6-1,0,0)(0,0,0)
137