S The basic dimensions and movement range of each of the joints of the MITSUBISHI RM-501...
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S The basic dimensions and movement range of each of the joints of the MITSUBISHI RM-501 are shown on the following page. Also, the five joint axes 2 through Z are shown. Note that Z2, Z3, and Z are parallel and directed inward. A reference coordinate system which is fixed to the table on which the MITSUBISHI is mounted within the workstation has been defined as [Xs,s, Zs]. The position and orientation of the base coordinate system (X, Y, 20] with respect to this is specified through the "To homogeneous transformation. Note that the base coordinate system is just moved up along the Zs axis by 250mm. A tool coordinate system [Xr, r,ZT] is also shown. It is fixed to the end effector and has its origin at its center. Its position and orientation with respect to the coordinate system fixed to link 5, [Xs, s, 2], is specified through the "Tr homogeneous transformation. (a) Show the coordinate frames for the MITSUBISHI, (s, s, Zs],[Xo, Yo, Zo], ..., [X, Y, Z, XT, YT, Zr]), in the "zero" configuration, that is, with the angles 0 0. Be sure that your definition of the coordinate frames is consistent with that given in class and also allows the "zero" configuration to be attainable (within the joint limits). = = 02 03 = 0, = = 05 = (b) Give a table specifying the link parameters for the MITSUBISHI: Link aad 2 4 5 (e) Determine the values for T; for i = 1,..., 5, To, and TT. (d) Find 'Ts for j=0,..., 4. Be sure to simplify any trigonometric equations as you are able. Use simplified notation whenever possible such as c12 for cosine(01 +02), etc. S The basic dimensions and movement range of each of the joints of the MITSUBISHI RM-501 are shown on the following page. Also, the five joint axes 2 through Z are shown. Note that Z2, Z3, and Z are parallel and directed inward. A reference coordinate system which is fixed to the table on which the MITSUBISHI is mounted within the workstation has been defined as [Xs,s, Zs]. The position and orientation of the base coordinate system (X, Y, 20] with respect to this is specified through the "To homogeneous transformation. Note that the base coordinate system is just moved up along the Zs axis by 250mm. A tool coordinate system [Xr, r,ZT] is also shown. It is fixed to the end effector and has its origin at its center. Its position and orientation with respect to the coordinate system fixed to link 5, [Xs, s, 2], is specified through the "Tr homogeneous transformation. (a) Show the coordinate frames for the MITSUBISHI, (s, s, Zs],[Xo, Yo, Zo], ..., [X, Y, Z, XT, YT, Zr]), in the "zero" configuration, that is, with the angles 0 0. Be sure that your definition of the coordinate frames is consistent with that given in class and also allows the "zero" configuration to be attainable (within the joint limits). = = 02 03 = 0, = = 05 = (b) Give a table specifying the link parameters for the MITSUBISHI: Link aad 2 4 5 (e) Determine the values for T; for i = 1,..., 5, To, and TT. (d) Find 'Ts for j=0,..., 4. Be sure to simplify any trigonometric equations as you are able. Use simplified notation whenever possible such as c12 for cosine(01 +02), etc.
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Income Tax Fundamentals 2013
ISBN: 9781285586618
31st Edition
Authors: Gerald E. Whittenburg, Martha Altus Buller, Steven L Gill
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