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,...
-
With reference to Problem 61 data, water pressure of 0.552 MPa is anticipated at 1,372 m. What liner thickness is indicated, if a liner safety factor of 2.5 is required, note: Minimum thickness is...
-
Based on Exhibit 2, the goodwill included in Topmakers purchase of Rainer is: A. $21 million. B. $60 million. C. $99 million.
-
Which of the following matches is performed in evaluated receipt settlement (ERS)? a. the vendor invoice with the receiving report b. the purchase order with the receiving report c. the vendor...
-
The Ploughman family has owned and operated a 640-acre farm for several generations. The family now needs to make a decision about the mix of livestock and crops for the coming year. By assuming that...
-
Which statement is NOT correct as to when vacation pay may be paid: Question 32 options: At a time the employee and employer agree upon During the employee's regular pay period (for example, on a...
-
It is now January 2018. The year 2017 finished well. The finalized year-end financial statements for 2017 are provided in the excel file associated with this assignment. Randolf and Tenisa at Comfy...
-
Discuss the information in the reading regarding the controversial, newer technology known as " Familial DNA." Research this legal issue and present the constitutional debate regarding it. Back up...
-
What is the CLTV? Margin = $100 per year, Retention Rate = 70% and Discount Rate = 10% per year. If you expect to retain a customer for 2 years, what is the CLTV if Margin = $100 per year and...
-
Requirements: Dinner ingredients $3,400,000 Preparation labor $900,000 Sales and marketing costs $360,000 Plant production overhead $87,000 Normal food spoilage $67,000 Abnormal food spoilage...
-
A tennis racquet manufacturer is negotiating a lease on land to build a manufacturing plant. The price p charged per tennis racquet will be determined by p = $450 - (0.1) d, where d is the demand...
-
The deductible for Mr. Sweet's health insurance is $500. On Sunday, Mr. Sweet underwent a blood test, incurring a cost of $300. How much does Mr. Sweet need to pay out of his own pocket for this...
-
YOUR SPECIFIC ASSIGNMENT Using the information from the websites the student will develop evaluation of bond and stock performance for THE COMPANY BOEING (SELECTED BY INSTRUCTOR). (The evaluation...
-
-8 14 A= 4 4 7 prove that A = A . 9 1 -8 4
-
Thalina Mineral Works is one of the worlds leading producers of cultured pearls. The companys condensed statement of cash flows for the years 20182020 follows. Required Comment on Thalina Mineral...
-
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
-
Apex Corporation operates in two locations: New York and Oregon. The LIFO method is used in accounting for inventories at the New York facility and the specific identification method is used for...
-
Assume that during the first year of Hatton Corporation's operation there were numerous purchases of identical items of merchandise. However, there was no change during the year in the prices paid...
-
Assume that a periodic inventory system is in use. Explain which per-unit acquisition costs are assigned to the year-end inventory under each of the following inventory costing procedures: a. The...
Study smarter with the SolutionInn App