Bạn đang xem bản rút gọn của tài liệu. Xem và tải ngay bản đầy đủ của tài liệu tại đây (262.79 KB, 3 trang )
<span class="text_page_counter">Trang 1</span><div class="page_container" data-page="1">
<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 <sup>0</sup><b>p</b><small>D</small> (the coordinates of point D in {0}) when <small>1</small> = <small>2</small> = <small>3</small> = 0<sup>0</sup>.
g. (L.O.5.2) Create a plot of changes in coordinates of point D (<sup>0</sup><i>x</i><small>D</small>, <sup>0</sup><i>y</i><small>D</small>, and <sup>0</sup><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>
</div><span class="text_page_counter">Trang 2</span><div class="page_container" data-page="2">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>
</div><span class="text_page_counter">Trang 3</span><div class="page_container" data-page="3"><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>
</div>