Robotics 2
Denavit-Hartenberg
Quiz
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Questions 3-10: Shown here is a kinematic diagram with the frames already drawn according to the Denavit-Hartenberg rules. Use the drop-down boxes to fill in the Denavit-Hartenberg parameter table.
Question 1: Shown here is a kinematic diagram with two frames drawn on it. Do I need to move the location of the center of frame 1 in order to follow the Denavit-Hartenberg rules?
No; all Denavit-Hartenberg rules are already followed here.
No; you can just change the directions of the axes to comply with the rules
Yes; you need to move the whole frame
No; all Denavit-Hartenberg rules are already followed here.
No; you can just change the directions of the axes to comply with the rules
Yes; you need to move the whole frame
Question 2: Shown here is a kinematic diagram with two frames drawn on it. Do I need to move the location of the center of frame 1 in order to follow the Denavit-Hartenberg rules?
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2
-90
0
90
180
-90+Theta1
Theta1
90+Theta1
180+Theta1
-90+Theta2
Theta2
90+Theta2
180+Theta2
a1
a2