Question: Consider the 4 - axis robot shown in Figure and Table 1 . The Link - Transformation matrix is provided below T k - 1

Consider the 4-axis robot shown in Figure and Table 1. The Link-Transformation matrix is provided below
Tk-1k=
[C k-CkSkSkCkCkSkSkakCk-SkCka
\table[[kS ?a0,Sak0,0Cak,dk0],[Axis (k),0,d (mm),a,a,Home],[1,q1,d1,0,-2,0],[2,q2,0,a2,0,0],[3,q3,0,a3,0,0],[4,q4,0,0,-2,-2
Consider the 4 - axis robot shown in Figure and

Step by Step Solution

There are 3 Steps involved in it

1 Expert Approved Answer
Step: 1 Unlock blur-text-image
Question Has Been Solved by an Expert!

Get step-by-step solutions from verified subject matter experts

Step: 2 Unlock
Step: 3 Unlock

Students Have Also Explored These Related Mechanical Engineering Questions!

Q:

A 4-DOF robot arm was shown in the figure 1. For this robot: Assign coordinate frames based on the D-H representation. Fill out the D-H parameters table. Find the link transformation matrix for each...

Q:

A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix...

Q:

A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix...

Q:

2 {s} rod 1 h (s) La xa (ba) (Zero Position) rod 2 m2 (b) (Zero Position) Figure. 2R rotational inverted pendulum (left); and its model at the zero position (right) Consider the 2R open-chain robot...

Q:

SECTION A 1- A1. Consider the SCARA robot shown in Figure QA1 shown at its soft home position. The joint distances d and link lengths a are the following: d = [d, 0.0, d, d4] mm where d4 is the tool...

Q:

{Zl'l'll Pl Isit 11 In} x; " {1'2} m! Figure. 2R rotational inverted pendulum {left}; and its model at the zero position (right) Consider the 2R open-chain robot shown in the gure (left), referred to...

Q:

6 | Consumer Choices Figure 6.1 Investment Choices Higher education is generally viewed as a good investment, if one can afford it, regardless of the state of the economy. (Credit: modification of...

Q:

Image transcription text SECTION A A1. Consider the SCARA robot shown in Figure A1. (a) Assign the coordinate frames using the Denavit-Hartenberg (D-H) algorithms provided. [25%] (b) Fill out the D-H...

Q:

A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix...

Q:

A 4-DOF robot arm was shown in the figure 1. For this robot: a) Assign coordinate frames based on the D-H representation. b) Fill out the D-H parameters table. c) Find the link transformation matrix...

Q:

What key characteristics would you consider in choosing a methodology for a project?

Q:

Find an ordered pair that satisfies both of the equations y = x + 1 and y = -2x + 4.

Q:

Amari Azan works in the payroll department for Racine Traders. The company has experienced a decline in revenue over the past six months. The company president asks Amari to delay the remittance of...

Q:

Assume the ambient air temperature is -10C and the external convection coefficient is 65W/(m2 K). If the hot air blowing to defog the glass internally is at 40 C and the internal convection...