A spatial 3DOF spraying planer robot is shown in Figure 5. It has two revolute and...

 

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A spatial 3DOF spraying planer robot is shown in Figure 5. It has two revolute and one prismatic joints. The joint variables are [01, 12,03]. (a) Assign the coordinate frames based on the DH representation. (b) Fill out the parameter table and write all the T matrices. (c) Obtain the overall transformation matrix "Th. (d) The robot dimensions are l = 0.1 m and l3 = 0.15 m. It is required to obtain the following hand position; 0.3420 0 0.9397 0.4921 0.9397 0 -0.3420 0.1437 "Th = 0 1.0 0 0 0 0 0 1 Calculate the required values for [01, 12, 03]- Xu Figure 5 Xh Zh A spatial 3DOF spraying planer robot is shown in Figure 5. It has two revolute and one prismatic joints. The joint variables are [01, 12,03]. (a) Assign the coordinate frames based on the DH representation. (b) Fill out the parameter table and write all the T matrices. (c) Obtain the overall transformation matrix "Th. (d) The robot dimensions are l = 0.1 m and l3 = 0.15 m. It is required to obtain the following hand position; 0.3420 0 0.9397 0.4921 0.9397 0 -0.3420 0.1437 "Th = 0 1.0 0 0 0 0 0 1 Calculate the required values for [01, 12, 03]- Xu Figure 5 Xh Zh