'Swish, swish, swish...' started writing on the paper.
if:
It has two axes, how about changing it to three axes?
When the angles between Y, X and X are the same, the distances between them are divided into three levels.
Di;
Ai-1;
Ai;
Di, the distance between ai-1 and ai.
(It can be understood as the distance between the intersection points of Ai-1 and Ai with Z, because Ai-1 and Ai are perpendicular to Z respectively)
And the connection status between Di and di connecting rod.
Selecting parameters is the first step in coordinate transformation, and the second step is to establish the Cartesian coordinate system of the joint.
From observation, we can get that the origin is closest to the intersection of Y and ai-1.
This way our z-axis can be along Y and our x-axis can be along ai-1.
Then determine the y-axis, which must be equal to the cross product of the x-axis and the z-axis. That is, the position of the y-axis has been determined, and the direction can be determined according to the right-hand coordinate system.
αi-1 can be regarded as the angle between the two z axes;
ai-1 can be regarded as the distance between the two z axes.
Di can be regarded as the angle between the two x axes.
di can be thought of as the distance between the two x axes.
The last step is to transform the coordinates.
Coordinate transformation is mainly divided into four steps:
Rotate Y around the ai-1 axis (x axis) by αi-1. (Because ai-1 is perpendicular to Y)
Translate X along the Ai-1 axis (x-axis) by ai-1.
Rotate Y around the X axis (z axis) by Di. (Because Y is perpendicular to ai-1 and ai respectively)
Translate Z along the X-axis (z-axis) by di.
......
Half an hour later!
Liu Chi slapped his thigh!
Done, there should be no problem this time. Just pick up the mouse and make some changes based on the original one.
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