LHW #3 ky thuat robot

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<b>Objectives: L.O.1.5, L.O.2.1  L.O.2.3, L.O.5.2 IHW #3</b>

<b>A. Requirement </b>

An RRR planar robot with known frames {0} and {3}, which are assigned to link 0 and link 3 respectively, is shown in the figure below.

With this manipulator, do the followings:

a. Draw the schematic diagram of the manipulator.

b. (L.O.2.1) Assign frames for link 1 and link 2 (with the convention: axis Z<small>i</small> is coincident with the joint axis (i + 1)) so that

a. Z<small>1</small> and Z<small>2</small> have the same direction as Z<small>3</small>

b. X<small>1</small> has the direction as shown in the figure.

<i>c. (L.O.2.2) Determine D-H parameters (a</i><small>i</small>, <small>i</small><i>, d</i><small>i</small>, <small>i</small>) for the frames {1}, {2}, and {3}

<i>If link dimensions are given as constants: l</i><small>1</small><i><b> = XX, l</b></i><small>2</small><i><b> = XX+ZZZ, l</b></i><small>3</small><b> = YY+ZZZ (m). </b>

f. Calculate ⁰<b>p</b><small>D</small> (the coordinates of point D in {0}) when <small>1</small> = <small>2</small> = <small>3</small> = 0⁰.

g. (L.O.5.2) Create a plot of changes in coordinates of point D (⁰<i>x</i><small>D</small>, ⁰<i>y</i><small>D</small>, and ⁰<i>z</i><small>D</small>) during the time from 0 to 10 seconds when the set of joint angles is given below.

Your student ID is always formatted in a

<b>form: XXYYZZZ. For example, if your </b>

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The report uploaded to BKEL has to be formatted in A4 pages as follows:

 File name: ‘IHW_3_XXXXXXX.pdf’ with XXXXXXX is your student ID.  Font style: Times New Roman

 Font size: 12pt

 Margin: Left: 3cm, Right: 2cm, Top: 3cm, Bottom: 3cm  The contents should be organized as illustrated

Individual homework #3

Student name: ... Student ID: ... Class / group: ... Date: ...

My student ID is xxyyzzz. Thus XX = xx

YY = yy ZZZ = zzz

<b>a. Schematic diagram (Sample) </b>

<b>b. Coordinate frames (Sample) </b>

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<b>c. D-H parameters (Sample) </b>

<b>d. Transformation matrices (Sample) </b>

<b>e. Forward-pose kinematics solution (Sample) </b>

<b>f. Coordinates of point D in {0} when <small>1</small> = <small>2</small> = <small>3</small> = 0<small>0</small></b>

<b>g. Plot of changes in coordinates of point D (Sample) </b>

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