Consider a 3-link cartesian manipulator, (a) Compute the inertia tensor J, for each link i =...
Fantastic news! We've Found the answer you've been seeking!
Question:
Transcribed Image Text:
Consider a 3-link cartesian manipulator, (a) Compute the inertia tensor J, for each link i = 1,2, 3 assuming that the links are uniform rectangular solids of length 1, width . and height , and mass 1. %3D (b) Compute the 3 x 3 inertia matrix D(g) for this manipulator. (c) Show that the Christoffel symbols cik are all zero for this robot. Interpret the meaning of this for the dynamic equations of motion. d) Derive the equations of motion in matrix form: D(q)ä+C(q, 4)4 +g(q) Consider a 3-link cartesian manipulator, (a) Compute the inertia tensor J, for each link i = 1,2, 3 assuming that the links are uniform rectangular solids of length 1, width . and height , and mass 1. %3D (b) Compute the 3 x 3 inertia matrix D(g) for this manipulator. (c) Show that the Christoffel symbols cik are all zero for this robot. Interpret the meaning of this for the dynamic equations of motion. d) Derive the equations of motion in matrix form: D(q)ä+C(q, 4)4 +g(q)
Expert Answer:
Related Book For
Posted Date:
Students also viewed these mechanical engineering questions
-
A thin uniform rectangular plate of length a, width b and mass m has a moment of inertia 1/12 m(a2 + b2) about an axis through its centre and perpendicular to its plane. Identify the principal axes...
-
Each matrix i n Problems 1 to 3 corresponds to one of the linear transformations in Problem 54. Match each matrix with the corresponding image from Fig. 5. 1.9. 1. 2. 3. 0 and 0 0
-
Consider the manipulator given in below. Assume link 1 and link 2 are massless, and mass M is concentrated at the end of link 2, l1= 2*l2. Write the Lagrangian equations using generalized coordinates...
-
The 2017 financial statements for the Thor and Gunnar companies are summarized below. These two companies are in the same business and in the same province but in different cities. One-half of Thor?s...
-
If you insulate your office for $10,000, you will save $1,000 a year in heating expenses. These savings will last forever. a. What is the NPV of the investment when the cost of capital is 8%? 10%? b....
-
An open well contains water contaminated with volatile benzene at the bottom of the well, with dimensions shown in the figure on page 525. The concentration of dissolved benzene in the water is 156...
-
Continuing to focus on evidence associated with the act, concealment, and conversion, use the evidentiary material to continue the examination. In addition, the examiner also starts to think of terms...
-
Imperial Jewelers is considering a special order for 20 handcrafted gold bracelets to be given as gifts to members of a wedding party. The normal selling price of a gold bracelet is $189.95 and its...
-
Write down a regular expression for the following language: L= {w (p, q): number of p's in w is divisible by 4 }
-
A MPV has seven passenger seats one in the front, and three in each of the other two rows. a. In how many ways can all 8 seats be filled from a party of 12 people, assuming that they can all drive?...
-
Meselson and Stahl investigated various models of DNA replication. Draw and label the hypothetical results of the conservative model over two rounds of replication (also known as Generation 1 and 2)....
-
Focus on the connections that Horkheimer and Adorno perceive between the Hollywood studio system, or the "culture industry" more generally, and the will to impose mass conformity. How does their...
-
Suppose that the UK's real interest rate increases relative to the interest rate in the U.S. 1. Other things being equal, how should this affect the equilibrium value of the U.S dollar. Do you expect...
-
Discuss the impact of data analysis in healthcare settings? How has data been used to improve the healthcare system? Are there examples where data has been manipulated to hinder the effectiveness of...
-
Which financial ratio would best indicate how well a company's strategy is working? Question 67 options: Gross profit margin Market share Return on liquidity Time-to-market ratio
-
Status symbols and discuss how they play a role in purchase decisions? Discuss whether any of these current status symbols have begun to disappear overtime. What new product, if any, has replaced the...
-
Massey, I. (2008). Risk management for contracts. Civil Engineering: Magazine of the South African Institution of Civil Engineering, Available in the Trident Online Library. What would be a good...
-
For each equation, (a) Write it in slope-intercept form (b) Give the slope of the line (c) Give the y-intercept (d) Graph the line. 7x - 3y = 3
-
Explain why the displacement A sin (k.r wt) at position r and time t is called a plane wave. In which direction does it travel? A wave displacement is y = 0.5 sin (0.1 x 0.4t), where all quantities...
-
What is the force experienced by a mirror when it reflects all the light from a laser with a power of 10mW?
-
Rockets are propelled by the ejection of the products of the combustion of fuel. Consider a rocket of total mass m 1 to be traveling at speed v 1 in a region of space where gravitational forces are...
-
Economy Appliance Co. manufactures lowprice, no-frills appliances that are in great demand for rental units. Pricing and cost information on Economys main products are as shown on page 943. Customers...
-
Grill Master Company sells total outdoor grilling solutions, providing gas and charcoal grills, accessories, and installation services for custom patio grilling stations. Instructions Respond to the...
-
Tablet Tailors sells tablet PCs combined with Internet service (Tablet Bundle A) that permits the tablet to connect to the Internet anywhere (set up a Wi-Fi hot spot). The price for the tablet and a...
Study smarter with the SolutionInn App