The screw axis for joint 1 is in the direction wi = (0,0, 1). The most...

 

Transcribed Image Text:

The screw axis for joint 1 is in the direction wi = (0,0, 1). The most convenientr choice for point q1 lying on joint axis 1 is the origin, so that v = (0,0, 0). The screw axis for joint 2 is in the ŷ-direction of the fixed frame, so w2 = Choosing q2 = (0,0,0), we have v2 = (0,0,0). The screw axis for joint 3 is in the direction w3 = (-1,0,0). Choosing q3 The screw axis for joint 4 is in the direction w4 (0, L,0) leads to v4 = (0,0, L). The screw axis for joint 5 is in the direction (-1,0,0); choosing q5 = (0,2L, 0) leads to u5 axis for joint 6 is in the direction we = (0, 1,0).- (0,0,0) leads to vz = (0,0,0). (-1,0,0). Choosing q4 %3D (0, 0, 2L). The screw (0,0,0) leads %3D (0, 1,0); choosing q6 to v6 = (0,0,0). In summary, the screw axes S; = (wi, vi), i = 1,...,6, are as ..... follows: L1 L2 Figure 4.5: The RRPRRR spatial open chain. The screw axis for joint 1 is in the direction wi = (0,0, 1). The most convenientr choice for point q1 lying on joint axis 1 is the origin, so that v = (0,0, 0). The screw axis for joint 2 is in the ŷ-direction of the fixed frame, so w2 = Choosing q2 = (0,0,0), we have v2 = (0,0,0). The screw axis for joint 3 is in the direction w3 = (-1,0,0). Choosing q3 The screw axis for joint 4 is in the direction w4 (0, L,0) leads to v4 = (0,0, L). The screw axis for joint 5 is in the direction (-1,0,0); choosing q5 = (0,2L, 0) leads to u5 axis for joint 6 is in the direction we = (0, 1,0).- (0,0,0) leads to vz = (0,0,0). (-1,0,0). Choosing q4 %3D (0, 0, 2L). The screw (0,0,0) leads %3D (0, 1,0); choosing q6 to v6 = (0,0,0). In summary, the screw axes S; = (wi, vi), i = 1,...,6, are as ..... follows: L1 L2 Figure 4.5: The RRPRRR spatial open chain.