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

Extend the analyses of the three narrow-gate effects to

Extend the analyses of the three narrow-gate effects to include the voltage dependent bulk charge. Give two numerical examples using the submicron transistors of problem P685.5. Problem P685.5 Extend the analyses of the ...

Design design all members of the 6 span truss each span is

Design: Design all members of the 6 span truss each span is 12 ft long, the height of the truss is 16 feet shown if w = 10,000 pounds. The allowable maximum tensile stress P/A is 1000 psi where P is the force in the memb ...

For the experimental pump data given belowqflow rate

For the experimental pump data given below: Q F low Rat e ( ???? /s) ???? Total Pressure (kPa) P IN Shaft power (kW) 0.0000 504.82 1.190 0.0004 481.50 1.318 0.0008 476.70 1.573 0.0012 471.50 1.828 0.0017 461.00 2.083 0.0 ...

1 a venturi meter with an inlet diameter of 06 m is

1. A Venturi meter with an inlet diameter of 0.6 m is designed to handle 6 m3 /s of standard air. What is the required throat diameter if this flow is to give a reading of 0.10 m of alcohol in a differential manometer co ...

1 a differential manometer is used to measure the pressure

1. A differential manometer is used to measure the pressure change caused by a flow constriction in a piping system as shown. Determine the pressure difference between points A and B in psi. Which section has the higher ...

Assignmentin mse 2010 we talk about several general classes

Assignment In MSE 2010 we talk about several general classes of materials: metals, polymers, ceramics, glasses and composites. We know that these are just the basic categories and we've discussed several specific example ...

Part 1- heat1 the is used to express absolute temperatures

Part 1- Heat 1. The _______ is used to express absolute temperatures in the English system of measurement. A. Rankine scale B. Celsius scale C. Kelvin scale D. Fahrenheit scale 2. A silver bar 0.125 meter long is subject ...

An i-beam with the proportions shown is to be used as a

An I-beam with the proportions shown is to be used as a long column. There is a concern about buckling, so two reinforcing plates are to be welded along the length of the column. Two options for the resulting cross secti ...

A sample of propane c3h8 is placed in a closed vessel

A sample of propane (C 3 H 8 ) is placed in a closed vessel together with an amount of O 2 that is 2.15 times the amount needed to completely oxidize the propane to CO 2 and H 2 O at constant temperature. Calculate the m ...

It is desired to design a pump-piping system to keep a

It is desired to design a pump-piping system to keep a 1-million-gallon capacity water tank filled. The plan is to use a modified (in size and speed) version of the model A centrifugal pump. Provided is the test data for ...

  • 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