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

## 3 Degrees of Freedom Spatial 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, the 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 purple lines correspond to the link offsets (di) and the orange lines correspond to the link lengths (ai). 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.

### This Model Requires MapleSim

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• See how this model operates
• Learn how it was developed
• Discover how it can be modified to fit your requirements

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Model Images
• Model diagram of the system
• 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.
• 3-D visualization