3 Degrees of Freedom Planar Manipulator MapleSim Model - 3 Degrees of Freedom Planar Manipulator S-Function - MapleSim Model Gallery

3 Degrees of Freedom Planar Manipulator

This is a model of a 3-dof planar manipulator. This model helps visualize the manipulator’s motion and each link's Denavit-Hartenberg coordinate system. Also, this model helps visualize the intermediate coordinate systems that result from each successive rotation and translation of the (i-1)th coordinate system by the joint variables and  link parameters that lead to the ith coordinate system. The thickest arrows correspond to the DH coordinate systems, the thinner arrows correspond to the intermediate coordinate systems and the thinnest arrows correspond to the base coordinate system. The simulation outputs the x, y and z components of the position of the origin of the hand coordinate system with respect to the base coordinate system.
This model is ideal for use in the engineering classroom to teach fundamental concepts.
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Model Images
  • Model Model diagram of the system
  • results Simulation results showing the x, y and z components of the position of the origin of the hand coordinate system with respect to the base coordinate system.
  • 3d 3-D visualization
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