Figure 1 shows a schematic 3R planar robot which has 3 revolute joints, used to represent...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
Figure 1 shows a schematic 3R planar robot which has 3 revolute joints, used to represent 1 fully actuated robot finger. YB 1₂ YE E L03 XB Figure 1: A fully actuated robot finger is modeled as a 3 revolute planar robot manipulator (a) Analyse the kinematics of the robot finger shown in Figure 1 by the following steps: (i) Draw the equivalent schematic (skeleton) diagram showing the revolute joints to analyse its kinematic configuration. (ii) With the aid of diagram (to be drawn), analyse the link configuration by obtaining the D-H parameters for the 1 robot finger. (Show your coordinate frame and base frame) (iii) Extract the coordinate of the tip point of the robot finger in the base Cartesian coordinate frame. Figure 1 shows a schematic 3R planar robot which has 3 revolute joints, used to represent 1 fully actuated robot finger. YB 1₂ YE E L03 XB Figure 1: A fully actuated robot finger is modeled as a 3 revolute planar robot manipulator (a) Analyse the kinematics of the robot finger shown in Figure 1 by the following steps: (i) Draw the equivalent schematic (skeleton) diagram showing the revolute joints to analyse its kinematic configuration. (ii) With the aid of diagram (to be drawn), analyse the link configuration by obtaining the D-H parameters for the 1 robot finger. (Show your coordinate frame and base frame) (iii) Extract the coordinate of the tip point of the robot finger in the base Cartesian coordinate frame.
Expert Answer:
Answer rating: 100% (QA)
Certainly a more professional approach to solving the kinematics of the 3R planar robot finger in the image can be achieved through the following step... View the full answer
Related Book For
Business Statistics In Practice
ISBN: 9780073401836
6th Edition
Authors: Bruce Bowerman, Richard O'Connell
Posted Date:
Students also viewed these accounting questions
-
On January 1, 2022, Drennen, Incorporated, issued $4.6 million face amount of 11-year, 10% stated rate bonds when market interest rates were 8%. The bonds pay semiannual interest each June 30 and...
-
Using the following present value tables, calculate the present value for the following: Note: Use the appropriate value(s) from the tables provided and final answers to the nearest whole dollar....
-
D Question 1 Your company is evaluating whether to purchase an equipment or not. The initial cost is $45,581. According to your estimate, the equipment can have annual savings of $6,867 with 0.4...
-
In 1987, British skier Graham Wilkie achieved a speed of v = 211 km/h going downhill. Assuming that he reached the maximum speed at the end of the hill and then continued on the horizontal surface,...
-
A bond with 5 years to maturity and a coupon rate of 6% has a par, or face, value of $20,000. Interest is paid annually. If you required a return of 8% on this bond, what is the value of this bond to...
-
Define the synergy.
-
As in Problem 9.4, assume that the tube in Figure 9.8 is subjected only to an internal pressure and neglect the longitudinal stress. a. Determine the allowable internal pressure, \(p\), if the crack...
-
Postretirement benefits other than pensions (OPRBS) are similar to defined benefit pension plans in some respects and different in others. Required: a. Discuss the characteristics of OPRBs that make...
-
1 Given functions g(x) = and m(z) 2-4, state the domains of the following functions using Interval notation. Domain of 9(2) m(2) Domain of g(m(a)): Domain of m(g(x)) :
-
Let today be November 3, 2008. (a) Use the LIBOR rate and the swap data on November 3, 2008 in Table 11.26 and fit the LIBOR curve. (b) From the LIBOR discount curve, fit the Ho-Lee model of the...
-
The bank reconciliation as of December 31, 2021, includes the following facts. Cash balance per bank Cash balance per books Outstanding checks Deposit in transit Interest earned (on bank account)...
-
A business person reads that the price elasticity of demand for the product they sell is 1.25. If the person wishes to increase revenue, should they increase or reduce price? Explain.
-
a. List and explain some of the determinants of the price elasticity of demand. Think of some examples to use to illustrate the factors you cover. b. What are the main factors that affect the price...
-
A resort uses a rope to pull a \(65-\mathrm{kg}\) skier up a slope at constant speed. To pull the skier \(75 \mathrm{~m}\) requires \(18 \mathrm{~kJ}\) of work to be done by the rope. (a) Determine...
-
A cylindrical solenoid of radius \(R\) and height \(b\) consists of \(N\) windings. There is a current through the windings, and this current increases with time as \(I=\alpha t\), where \(\alpha\)...
-
Suppose that \(r=0, n=15\), and \(s_{y}=10\). Determine \(s\).
-
Give a brief explanation of how excessive human output has harmed the biosphere using an example.
-
The water in tank A is at 270 F with quality of 10% and mass 1 lbm. It is connected to a piston/cylinder holding constant pressure of 40 psia initially with 1 lbm water at 700 F. The valve is opened,...
-
In the July 29, 2001 issue of the Journal News (Hamilton, Ohio), Lynn Elber of the Associated Press reported that "while 40 percent of American families own a television set with a V-chip installed...
-
Figure 2.31 presents the ratings given by 406 randomly selected individuals of six fast food restaurants on the basis of taste, convenience, familiarity, and price. The data were collected by...
-
Total variation = 7447.5; SSE = 896.8; b1, = 5.7003
-
Show that having the exact value for the estimated sensor bandwidth is not required for the experimental process to find KEst discussed in Section 10. 4.3.4. In Experiment 10E, corrupt the value of...
-
Provide the modeling equations for the following figure. Assume an analog PI controller (GC(s)), a single-pole low-pass filter with a break frequency of 200 Hz for the feedback filter (H(s)), and a...
-
What is the gain and phase of a single-pole low-pass filter (a) at its bandwidth and (b) at 1/10 its bandwidth? (c) Repeat for a two-pole low-pass filter with = 0.7
Study smarter with the SolutionInn App