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Question: pson manipulator is a 3d cartesian robot ppp used in...

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pson manipulator is a 3D Cartesian robot PPP used in router drilling and aving CNC machines. Define on the kinematic diagram the frame (O, xy) for i 1,2 and 3 with respect to Denavit-Hartenberg conditions: . Z are the joint actuating axes. intersects z. If O is the origin where the common normal to z and z-1 리 and 4-1 are parallel, locate 0.1n any convenient position along zi. x is along the common normal between z,-1 and z through O, or in the direction normal to the zi-1-z plane if z- and z intersect. y completes a right-hand frame. omplete the table below with the Denavit-Hartenberg parameters of the anipulator in the figure. θί: the angle between Xi-1 and Ximeasured about zi21.Bis variable ifjointiis revolute. dị: distance along from 0,-1 to the intersection of the X and Zi-1 aves di is variable if joint i is prismatic. a,: distance along x, from O, to the intersection of the X and Zi-1 aves. z: the angle betweenz,-1 and Z mesured about X a fixed link with mass and length equal to 0.3) Find all the homogeneous transformation matrices At such that sin 8 cos cos -cos 6 sin a a sin e sin a 0 4) Find the T -matrices between the diernt fraes(i 1,2 and 3) and the fixed frame (00 ,oo) r0 5) Find the position ofcenters of gravity r, r3 and㎡ ofthe links inthe joints frame. rl is the position vector of Gi İn (0iXpya). 6) Write the position vectors of centers of gravity in the fixed fram 7) Find the velocity vectors of the centers of gravity in the fixed frame: dro dt Where is the velocity vector of G, in (00,xo-yo-zo).

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