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Question: example oa 01 a3 as drawn 2 bc ka ab...

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Example OA 01 a3 as drawn α2 BC kA AB This robot arm is constructed of links each of length L and radius e, with T-junctions at the center of each link. Points O through D are on the centerlines of links that they include. Point O is at the origin. The primed and double- primed frames are aligned with the world frame when al and a2 are zero, the triple-prined frame has k, aligned with i when a3 is zero. Angles on, o2, and Q3 are respectively around the j, i, and j axes. Find: The position of point C. Write this down as the sum of a series of matrix- times-local-vector operations, and group these pieces into their meaningful components (e.g., FB/A, etc.). 1. ac, in terms of the joint 2. The angular acceleration of the final link, angles, their velocities, and their accelerations. Write this down asa sum of matrix-times-local-vector and cross-produet operations, and group these pieces into their meaningful components (e.g., ã2, etc.). For both questions, you may define a set of rotation matrices for OA, AB, and BC, and then use those definitions in your answers.
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