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RobotProject 1

This document provides a kinematic analysis of an ABB IRB 2600 robot. It includes a table of contents, introduction to the robot and its applications, and chapters on describing the robot links and frames. Key details include determining Denavit-Hartenberg parameters for 6 links, setting base, wrist and link frames with sketches, deriving homogeneous transformation matrices between links, and concluding the kinematic analysis.

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Pengbo Ding
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261 views

RobotProject 1

This document provides a kinematic analysis of an ABB IRB 2600 robot. It includes a table of contents, introduction to the robot and its applications, and chapters on describing the robot links and frames. Key details include determining Denavit-Hartenberg parameters for 6 links, setting base, wrist and link frames with sketches, deriving homogeneous transformation matrices between links, and concluding the kinematic analysis.

Uploaded by

Pengbo Ding
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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AUT

Robotics
Project 1
ABB IRB 2600

Pengbo Ding

Table of Contents
1.

Introduction..................................................................................................... 2

2.

Description...................................................................................................... 3

3.

Conclusion....................................................................................................... 5

4.

Reference........................................................................................................ 6

Chapter 1 Introduction
This report is about a kinematic analysis of an ABB robot. The robot is offered by
ABB company and the series number is IRB-2600-12/1.85. In addition, this robot
may be applied in many engineering areas to increase the work efficiency. These
main applications are indicated below:

Welding
Material Handling and Cutting
Product Assembly
Product Packing
Inspection and measuring

From the specification, IRB 2600 robot has 3 models, 1.85 model is specified for
this project. And payload of this specified robot is 12kg and it can reach up to
1853mm distance. The height of IRB 2600-12/1.85 is 1582mm and its weight is
approximately 284kg (ABB's new mid range robot family. IRB 2600 - The sharp
generation , 2016).
The advantages of this latest design IRB 2600 robot are introduced below:

Compact and lightweight design


Short cycle times
Large working range
Sharp accuracy
Best protection available

Figure 1. 1 ABB IRB 2600-12/1.85 Robot

In order to maximize the advantage of its performance, it is necessary to


understand the working system about this robot. A kinematic analysis is
introduced below.

Chapter 2 Description
2.1 Determine and list link (DH) parameters.
ABB robot picture is downloaded from its specification sheet and determine the
coordinate system.

Figure 2. 1 IRB 2600-12/1.85 Robot Frames

Then, by following geometric interpretations and motion interpretations, link


parameters can be indicated below.

Figure 2. 2 Denavit-Hartenberg (DH) parameters formula

DH parameter is written in the table below, the length of the frames are from its
specification sheet.

i1

ai1

di

-90

150

900

-90

115

795

+90

-90

2.2 Set up base frame {B}, wrist frame {W} and other link frames
with sketches and explanations.
The simplified picture of IRB 2600-12/1.85 is from project requirement page.

Figure 2. 3 ABB Robot Coordinate Frames

2.3 Derive DH matrices for the homogeneous transformation


between the neighbouring links.
Once the DH parameters are determined, the next step is to derive the matrices.

Figure 2. 4 Link transformation

Following the formula above and indicate its own matrices. The process is written
in One Note and indicate the results below.

Figure 2. 5 Derived matrices

2.4 Derive the homogeneous transformation matrices.

1. Conclusion

2. Reference

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