User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
68
Figure 36 shows the entire 7-DOF BarrettArm system in the zero position. A positive joint
motion is based on the right hand rule for each axis. The ‘Back of the Robot’ label points to
the portion of the base where the connectors exit.
The link parameters that were derived from Figure 36 are located in Table 13.
Table 13 - Link Parameters
Joint a
i-1
α
i-1
d
i
θ
i
1 000
θ
1
20
-π/2
0
θ
2
30
π/2 L
3
θ
3
4
d
3
-π/2
0
θ
4
5
-d
3
π/2 L
4
θ
5
60
-π/2
0
θ
6
70
π/2 -L
7
θ
7
Table 14 – Link Parameter Values
Parameter Value
L
3
55.8cm
L
4
29.1cm
L
7
6.5cm
d
3
4.76cm
Each of the joints has a mechanical stop that limits the motion. Refer to Table 15 for a
complete listing of the joint limits for each axis.
Table 15 – Joint Limits
Joint Positive Joint Limit (radians) Negative Joint Limit (radians)
1 2.46 -2.46
2 1.9 -1.9
3 2.74 -2.74
4 3.14 -.9
5 3.14 -3.14
6 4.7 -1.57
7 2.35 -2.35