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  3. exercise 26 the mobile manipulator of figure 216 consists of...

Question: exercise 26 the mobile manipulator of figure 216 consists of...

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Exercise 2.6 The mobile manipulator of Figure 2.16 consists of a 6R arm and multi-fingered hand mounted on a mobile base with a single wheel. You can Figure 2.16: Mobile manipulator think of the wheeled base as the same as the rolling coin in Figure 2.11 -the wheel (and base) can spin together about an axis perpendicular to the ground and the wheel rolls without slipping. The base always remains horizontal. (Left unstated are the means to keep the base horizontal and to spin the wheel and base about an axis perpendicular to the ground.)Figure 2.11: A coin rolling on a plane without slipping.mecnanisim Torimed by the arin and open door nave! (c) A second identical mobile manipulator comes along, and after parking its mobile base, also rigidly grasps the refrigerator door handle. How many degrees of freedom does the mechanism formed by the two arms and the open refrigerator door have?b) Now suppose that the robot hand rigidly grasps a refrigerator door handle and, with its wheel and base completely stationary, opens the door using only its arm. With the door open, how many degrees of freedom does the mechanism foed by the arm and open door have?

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