SGManipulatorBase
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 4.9, Creation date: 2020-07-30, Last change: 2025-09-14
Plate, Base, and Hand for Manipulator Design # 4
Description
Those parts can be assembled using screws, spacer, and nut of DIN DIN 912, DIN 985, DIN 433 using Diameter 2.5mm and 8mm length and a ball bearing S692-X-2Z (2.50 Euro /Stück) with inside 2.5mm, outside 7mm and width 3.5mm
See Also: SGdimensioning4
, SGdesignBallbearing
, SGdesignDIN912DIN985
, SGManipulatorLink
Example Illustration
Syntax
[A,B,K,U,E]=SGManipulatorBase([LL,Shap,LD,LH])
Input Parameter
LL: | | Length of Base and Hand; default is 40 |
Shap: | | Surface shaping; default is true |
LD: | | Radius of the tips; default is 5mm |
LH: | | Height of the parts; default is 6mm |
Output Parameter
A: | | Base PLate |
B: | | Base |
K: | | 7 DoF |
U: | | Hand |
E: | | Effektor |
Examples
Create all parts of a 7DoF Manipulator
SGManipulatorBase('',false); % Just no surface shaping
[A,B,C,H,EF]=SGManipulatorBase
D=SGManipulatorLink % Link and link extender
SGTchain({A,B,C,D,H,B,H,EF},[pi pi 0 pi 0 pi 0]); SGn=ans; SGfigure; SGplotalpha(SGn,'w'); view(-30,30); fullview(0.5)
SGfigure; view(-30,30); SGplotalpha(SGn)
Copyright 2020-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth
Last html export of this page out of FM database by TL: 2025-09-21