1. The Figure 1 shows the first two joints of an anthropomorphic robot the gripper is...
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1. The Figure 1 shows the first two joints of an anthropomorphic robot the gripper is on link 2 at 03 and a₁ = a₂ = 5. At a specified instant, the robot is moving with 8₁ = 0,0₂= ATAN(1),0₁ = -2,0₂ = 6,0₁ = 152,0₂ = -3/2. (a) Determine the angular acceleration 002- (b) Determine the material acceleration am (0₁). (c) Determine the local acceleration 0902 (01). (d) Determine the material acceleration 092 (03). (e) Determine the local acceleration 0902 (03). (f) Verify that material acceleration combined with angular acceleration does not satisfy the shifting law by computing, (0₁) [2(03)]-X(0301) [02(0)+ (g) Suppose the mass and inertia of link 1 is negligible and for link 2, the inertia is modelled as a sphere of radius r = √5 at the end effector, m₂ = 2 and ₁1₂ (03) = diag(m₂r² m₂r², m₂r²]). Determine 1M₂ (03). (h) Determine ,M₂(0₁) using the parallel axis theorem/shifting law. Yp ²₂ Yo UT Figure 1 03 Yo m₁ = 4 1₁ = 16 a₁ Xo 4 Figure 2 m₂=4 1₂2=16 3 92 10 1. The Figure 1 shows the first two joints of an anthropomorphic robot the gripper is on link 2 at 03 and a₁ = a₂ = 5. At a specified instant, the robot is moving with 8₁ = 0,0₂= ATAN(1),0₁ = -2,0₂ = 6,0₁ = 152,0₂ = -3/2. (a) Determine the angular acceleration 002- (b) Determine the material acceleration am (0₁). (c) Determine the local acceleration 0902 (01). (d) Determine the material acceleration 092 (03). (e) Determine the local acceleration 0902 (03). (f) Verify that material acceleration combined with angular acceleration does not satisfy the shifting law by computing, (0₁) [2(03)]-X(0301) [02(0)+ (g) Suppose the mass and inertia of link 1 is negligible and for link 2, the inertia is modelled as a sphere of radius r = √5 at the end effector, m₂ = 2 and ₁1₂ (03) = diag(m₂r² m₂r², m₂r²]). Determine 1M₂ (03). (h) Determine ,M₂(0₁) using the parallel axis theorem/shifting law. Yp ²₂ Yo UT Figure 1 03 Yo m₁ = 4 1₁ = 16 a₁ Xo 4 Figure 2 m₂=4 1₂2=16 3 92 10
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Thomas Calculus Early Transcendentals
ISBN: 9780321884077
13th Edition
Authors: Joel R Hass, Christopher E Heil, Maurice D Weir
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