Answered step by step
Verified Expert Solution
Link Copied!

Question

1 Approved Answer

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

image text in transcribed

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 for each link. d) Find the Forward kinematics of the robot. e) Find the Inverse kinematics of the robot. f) Find the Jacobian Matrix. g) Find the torques of the joints for the joint space trajectory by using Newton-Euler method. h) Write the code in MATLAB and simulate the robot. Figure 1. 4 DoF (RRPR) Robot arm Parameters Values Units 4 0.4 m .. 0.1 m 13 0.6 m 4 0.05 m m 9.7 kg ma 4.864 kg mg 3.153 kg ma 0.178 kg Figure 2. Zero position of robot [0.0384 0 0.01 [0.155 0 0 4 = 0 0.048 0 1 = 0 0.0053 0 0.01 0 0.05 0 0 0.1549 [0.0639 0 0 [0.00011 0 Ig= 0 0.0634 0 44= 0 0.00012 0 0 0 0.0014] 0 0 0.00006 Xo

Step by Step Solution

There are 3 Steps involved in it

Step: 1

blur-text-image

Get Instant Access to Expert-Tailored Solutions

See step-by-step solutions with expert insights and AI powered tools for academic success

Step: 2

blur-text-image

Step: 3

blur-text-image

Ace Your Homework with AI

Get the answers you need in no time with our AI-driven, step-by-step assistance

Get Started

Recommended Textbook for

Shigleys Mechanical Engineering Design

Authors: Richard G. Budynas, J. Keith Nisbett

9th edition

77679520, 73529281, 1259986241, 978-0077679521, 9780073529288, 9781259986246, 978-1121345317

More Books

Students also viewed these Mechanical Engineering questions

Question

Describe three common types of routine requests. [page 225]

Answered: 1 week ago