6.9 [37] Derive the dynamic equations for the three-link manipulator with one prismatic joint shown in...

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6.9 [37] Derive the dynamic equations for the three-link manipulator with one prismatic joint shown in Fig. 3.9. Link 1 has an inertia tensor given by C I = Link 2 has point mass m located at the origin of its link frame. Link 3 has an inertia tensor given by (a) C31 = Ixx1 Joint 1 -[ 0 0 o Iyy 0 0 I 0 0 Ixx Lyy3 0 0 0 Izz3 0 Assume that gravity is directed opposite 2 and that viscous friction of magnitude v; is active at each joint. Joint 2 Joint 3 F to t (b) FIGURE 3.9: Manipulator having three degrees of freedom and one prismatic joint. 6.9 [37] Derive the dynamic equations for the three-link manipulator with one prismatic joint shown in Fig. 3.9. Link 1 has an inertia tensor given by C I = Link 2 has point mass m located at the origin of its link frame. Link 3 has an inertia tensor given by (a) C31 = Ixx1 Joint 1 -[ 0 0 o Iyy 0 0 I 0 0 Ixx Lyy3 0 0 0 Izz3 0 Assume that gravity is directed opposite 2 and that viscous friction of magnitude v; is active at each joint. Joint 2 Joint 3 F to t (b) FIGURE 3.9: Manipulator having three degrees of freedom and one prismatic joint.

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This question involves deriving the dynamic equations for a threelink manipulator with one prismatic joint Dynamic equations for robotic manipulators are derived using a formulation called the EulerLa... View the full answer