(a) In the figure shown below, the three identical robot arms (that is, the linkages) are...
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(a) In the figure shown below, the three identical robot arms (that is, the linkages) are holding the flat cylindrical object. Each arm is a chain of Spherical-Revolute-Spherical joints (from the base connected to the ground). The end-effectors (that is, the "hands") of the arms are firmly grasping the object such that there is no relative motion between them. Determine the degrees of freedom of the system. spherical joint revolute joint (b) Suppose that there are now a total of n such arms holding the object in (a) Determine the degrees of freedom of the system (c) Suppose that the spherical "wrist" joint of each arm in (a) (that is, the joint of the end-effector) is replaced by a universal joint. Determine the degrees of freedom of the system. (a) In the figure shown below, the three identical robot arms (that is, the linkages) are holding the flat cylindrical object. Each arm is a chain of Spherical-Revolute-Spherical joints (from the base connected to the ground). The end-effectors (that is, the "hands") of the arms are firmly grasping the object such that there is no relative motion between them. Determine the degrees of freedom of the system. spherical joint revolute joint (b) Suppose that there are now a total of n such arms holding the object in (a) Determine the degrees of freedom of the system (c) Suppose that the spherical "wrist" joint of each arm in (a) (that is, the joint of the end-effector) is replaced by a universal joint. Determine the degrees of freedom of the system.
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Lets address each question step by step a Degrees of freedom for the system with three robot arms Each robot arm is a chain of SphericalRevoluteSpheri... View the full answer
Related Book For
Accounting concepts and applications
ISBN: 978-0538745482
11th Edition
Authors: Albrecht Stice, Stice Swain
Posted Date:
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