1. Fill the Denavit-Hartenberg table for the Stanford manipulator, which is shown in the figure below,...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
1. Fill the Denavit-Hartenberg table for the Stanford manipulator, which is shown in the figure below, and write the overall homogenous matrix of the robot as a product of the rotation and translation matrices of each consecutive coordinate system from the base to the tip. =h at Hint: Placing axes in Denavit-Hartenberg method - Define rotation/elongation axes of the joints as z 0 - Form the base coordinate system (oxoyozo) wrt. right hand rule - Place the origin of each joint o, to the intersection of z., and zi - Place x, on o, so that x; becomes the common normal of Zi-1 and z - The coordinate system of the tip of the robot is assigned similarly to the previous coordinate system h = 50 h = 50 T= 1 0 0 0.707 0 0.707 0 0 0 -50 -0.707 50 0.707 100 0 1 ty R = Arm # 1 2 3 4 5 6 C4 C5 C6 84 C5 C6 0 Q G -85C6 Gu G 8486 C486 h = db d de O a f O 76 d6 a; Q 2. The homogenous transformation matrix of the tip of the robot in the previous question wrt. its base coordinate system is shown as T below. Find the joint angles and translations that will satisfy this condition. ee O d 25 ; 90 96 -90 -C4C586-84C6 C4S85 -84C586 + C4C6 8485 $586 C5 Z6 17 1. Fill the Denavit-Hartenberg table for the Stanford manipulator, which is shown in the figure below, and write the overall homogenous matrix of the robot as a product of the rotation and translation matrices of each consecutive coordinate system from the base to the tip. =h at Hint: Placing axes in Denavit-Hartenberg method - Define rotation/elongation axes of the joints as z 0 - Form the base coordinate system (oxoyozo) wrt. right hand rule - Place the origin of each joint o, to the intersection of z., and zi - Place x, on o, so that x; becomes the common normal of Zi-1 and z - The coordinate system of the tip of the robot is assigned similarly to the previous coordinate system h = 50 h = 50 T= 1 0 0 0.707 0 0.707 0 0 0 -50 -0.707 50 0.707 100 0 1 ty R = Arm # 1 2 3 4 5 6 C4 C5 C6 84 C5 C6 0 Q G -85C6 Gu G 8486 C486 h = db d de O a f O 76 d6 a; Q 2. The homogenous transformation matrix of the tip of the robot in the previous question wrt. its base coordinate system is shown as T below. Find the joint angles and translations that will satisfy this condition. ee O d 25 ; 90 96 -90 -C4C586-84C6 C4S85 -84C586 + C4C6 8485 $586 C5 Z6 17
Expert Answer:
Answer rating: 100% (QA)
The DenavitHartenberg DH convention is a systematic way to assign coordinate frames to a kinematic chain usually for serial manipulators as we have here The DH parameters are a set of values that uniq... View the full answer
Related Book For
Operations and Supply Chain Management
ISBN: 978-1119444404
9th edition
Authors: Roberta S. Russell, Bernard W. Taylor
Posted Date:
Students also viewed these mechanical engineering questions
-
. A vertical pole that is 2 meters tall casts a shadow that is 1.5 meters long. Nearby, at the same time, another vertical pole casts a shadow that is 6.5 meters long. How tall is this pole? a. Make...
-
A business wishes to have $80,000 ten years from now to make a down payment on a capital asset. How much money would the business need to invest in equal annual payments at a compound interest rate...
-
Assume that Everyman's Bookstore uses up cash at a steady rate of $200,000 per year. The interest rate is 2% and each sale of securities costs $20. a. How many times a year should the store sell...
-
Tastee Bites (Pty) Ltd is a restaurant chain situated in the Eastern Cape province. It specialises in selling African cuisine and provides catering services in addition to offering take away options....
-
The Foreign Corrupt Practices act can levy fines of more than five hundred million against companies our size that do not eliminate corruption in their operations abroad. Can you understand why the...
-
A.J's Wildlife Emporium manufactures two unique bird feeders (Deluxe and Super Duper) that are manufacture and assembled in up to three different workstations (X, Y, Z) using a small batch process....
-
X The function h is defined as h(x)=4-x2 x ln x, x>1 jh(x) Show that h(x) dx = 4ln 2- -1 15 16
-
The case study shown below provides an overview of Road Transit Systems (RTS) - a specialist preventative vehicle maintenance program operator in NSW, Australia. A number of attributes have been...
-
Martinez Visions charges $7500 for each new website that it develops. Its total fixed costs per year are $348000, while its variable costs are $1500 per website. What is Martinez Visions' break-even...
-
1 . You are abducted by aliens who transport you to their home world in a galaxy far far away. Oddly, the only thing you can think of doing is measuring the acceleration due to gravity on this...
-
NASA is launching a rocket into space from Earth. This particular rocket burns its fuel for 5 5 minutes and then turns off its engines. At this point, the rocket keeps floating along through space at...
-
In an oil-drop experiment, two parallel conducting plates are connected to a power supply which generates an electric field E whose field strength is 10,000 N/C. The separation between the plates is...
-
Two small spheres, each of mass 1.92g, are suspended by light strings 11.9cm in length (see figure below). A uniform electric field is applied in the x direction. The spheres have charges equal to...
-
1 . Calculate the acceleration of a car, if its speed changes from 0 0 m / / s ( at rest ) to 3 0 m / / s in 6 seconds. 2. A rock falls of a cliff. What is the acceleration due to gravity if the...
-
Queensland Electronics Company manufactures two large-screen television models, the Novelle, which has been produced for 10 years and sells for $910, and the Zodiac, a new model introduced in early...
-
Explain the differences and similarities between fringe benefits and salary as forms of compensation.
-
Create a flowchart for the process of building flowcharts described in the Process Analysis section of this chapter.
-
Search the Internet for two or more companies that publish sustainability reports. What are the main components of each companys green initiatives? How do their approaches differ?
-
Explore capacity planning at your university or place of business. How is capacity measured? What factors influence the acquisition and allocation of resources?
-
Based on your reading of this chapter, the following job description, and the two rsums below, analyze the two applicants for the position. What are their strengths and weaknesses as highlighted by...
-
Write a rsum that you could use in your job search. As your instructor directs, a. Write a rsum for the field in which you hope to find a job. b. Write two different rsums for two different job paths...
-
Use a web platform such as Wordpress to create a portfolio that highlights your professional and academic accomplishments. Include course projects, workplace samples, and other documents that support...
Study smarter with the SolutionInn App