Ask Question, Ask an Expert

+1-415-315-9853

info@mywordsolution.com

Ask Mechanical Engineering Expert

Assignment 1: Link parameters
 
A) Draw a CAD model of an RR link shown in figure. You may represent an R joint as in figure below or using a cylinder.

B) Create a coordinate frame on the link following the D-H convention.

C) The parameters shown in figuer below are different from the D-H link parameters. Give the D-H parameters of the link.

1550_RR link.jpg

585_R joint.jpg

Assignment 2: Kinematic modelling of a planar robot

A) Create a CAD model of the planar robot and the target object shown in figure below using a CAD software.

B) Derive the matrice Tog, To1, T12, T23, T3p

c) Obtain Top using CAD software.

d) Verify Top = To1 T12 T23 T3p

e) Can the end-effector reach the target?

f) Verify whether the following equation is true:

T3pT23T12To1 = To1 T12 T23 T3p

366_planar robot.jpg

Mechanical Engineering, Engineering

  • Category:- Mechanical Engineering
  • Reference No.:- M9821

Have any Question? 


Related Questions in Mechanical Engineering

Question 1 -1 plot the singular stress components sigmaxx

Question 1 - 1) Plot the singular stress components, σ xx , σ yy and τ xy for a cracked body under Mode I, Mode II and Mode III loading with a stress intensity factor K i = 10 MPa·m 1/2 (i = I, II and III). Plot the stre ...

Invent a structure that can completely eliminate the narrow

Invent a structure that can completely eliminate the narrow gate effects. This is known as the fully recessed stepped oxide (FROSOX) whose sidewall oxide is thicker than the gate oxide and they are connected by a step or ...

As an approximate rule a particular vibrational mode in a

As an approximate rule, a particular vibrational mode in a molecule will contribute to the equipartition principle energy at temperatures where 3 2 kBT Ú ve for that mode. In the following table are listed all the vibrat ...

1 the v-shaped tank has width w into the paper and is

1. The V-shaped tank has width w into the paper and is filled from the inlet pipe at volume flow Q. Derive expressions for (a) the rate of change dh/dt and (b) the time required for the surface to rise from h 1  to h 2 . ...

A linear spring k is to be designed to stop a 20-mg

a linear spring k is to be designed to stop a 20-mg railroad car traveling at 8km/h within 400 mm after impact. Find the smallest value of k that will produce the desired result.

Gas turbine engines are mostly seen in aircraft while

Gas turbine engines are mostly seen in aircraft, while piston combustion engines are mostly seen in ground vehicles. Which advantages and disadvantages of these engines have caused them to be favorable for their respecti ...

There is a typo in the problem related to combustion of

There is a typo in the problem related to combustion of hydrazine. The sentence alluded to products should read: "Because of the fuel choice, expected products of combustion are H2, N2 and H2O"In the version you received ...

The impact of technologies in relation to materials -in

The impact of technologies in relation to materials - In recent years, we have witnessed significant advances of technology particularly in the areas of computing and telecommunication. We use these technologies in our e ...

Two small cubes of equal size but made of different

Two small cubes of equal size but made of different materials are stacked (as shown in the figure below), so they just fit between two rigid surfaces. The bottom cube is subjected to a uniform pressure p on each of its e ...

1 the velocity vector in a two-dimensional flow is given by

1. The velocity vector in a two-dimensional flow is given by the expression v = 10e x  + 7xe y  m/s when x is measured in meters. Determine the component of the velocity that makes a 30° angle with the x axis at the poin ...

  • 4,153,160 Questions Asked
  • 13,132 Experts
  • 2,558,936 Questions Answered

Ask Experts for help!!

Looking for Assignment Help?

Start excelling in your Courses, Get help with Assignment

Write us your full requirement for evaluation and you will receive response within 20 minutes turnaround time.

Ask Now Help with Problems, Get a Best Answer

Section onea in an atwood machine suppose two objects of

SECTION ONE (a) In an Atwood Machine, suppose two objects of unequal mass are hung vertically over a frictionless

Part 1you work in hr for a company that operates a factory

Part 1: You work in HR for a company that operates a factory manufacturing fiberglass. There are several hundred empl

Details on advanced accounting paperthis paper is intended

DETAILS ON ADVANCED ACCOUNTING PAPER This paper is intended for students to apply the theoretical knowledge around ac

Create a provider database and related reports and queries

Create a provider database and related reports and queries to capture contact information for potential PC component pro

Describe what you learned about the impact of economic

Describe what you learned about the impact of economic, social, and demographic trends affecting the US labor environmen