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

A beam with a rectangular cross section has dimensions as

A beam with a rectangular cross section has dimensions, as defined in Fig. 8.13, of b = 40and t = 10 mm. The beam is made of 7475-T7351 aluminum and is subjected to a bendingmoment of M = 900 N·m. (a) If a through-thickn ...

The ground state 1s1 h atom has two hyperfine states f 0

The ground state 1s1 H atom has two hyperfine states, F = 0 and F = 1, which correspond to different relative orientations of the nuclear spin and electron spin. The transition between these two states has a wavelength o ...

We want to tighten an astm a193 bolt having 4-8 un threads

We want to tighten an ASTM A193 bolt having 4-8 UN threads and a yield strength of 96 ksi. The effective length of its body, Lbe, is 12 in.; that of its threads, Lse, is 4 in. We're going to control the buildup of preloa ...

Example how an p-channel flash eprom would work is the

Example how an p-channel flash EPROM would work. Is the p-channel worse or better than the n-channel asides form speed? Estimate the write and erase times (using the Fowler-Nordheim tunneling formulae for a triangular ba ...

1 determine the capillary rise for a water-air-glass

1. Determine the capillary rise for a water-air-glass interface at 40°C in a clean glass tube having a radius of 1 mm. 2. Determine the difference in pressure between the inside and outside of a soap film bubble at 20 °C ...

Name several ways by which the loss of initial preload can

Name several ways by which the loss of initial preload can be reduced ? Roughly how much embedment relaxation could we expect from new parts used in a non-gasketed, steel joint? Define elastic interactions. How can elast ...

The maximum force applied to the tip of the allen wrench

The maximum force applied to the tip of the allen wrench before the bolt loosened is 60 N. Assume the wrench has a circular cross section with a radius 2 mm. The length of the short segment (touching the screw) is 3 cm a ...

Name the principal modes of failure of both tensile and

Name the principal modes of failure of both tensile and shear joints? Describe or list the criteria a bolted joint designer must consider when selecting bolt size and material for a new joint? Will short, fat bolts gener ...

A refrigerator is operated by a 025-hp 1 hp 746 watts

A refrigerator is operated by a 0.25-hp (1 hp = 746 watts) motor. If the interior is to be maintained at 4.50°C and the room temperature on a hot day is 38°C, what is the maximum heat leak (in watts) that can be tolerate ...

A potential flow source having an intensity of 10m2s placed

A potential flow source having an intensity of 10m2/s, placed in the point of Cartesian coordinates (1;0), and a sink having identical intensity, placed in the point (-1;0), are combined with a uniform flow at 25 m/s, in ...

  • 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

WalMart Identification of theory and critical discussion

Drawing on the prescribed text and/or relevant academic literature, produce a paper which discusses the nature of group

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